+ python -m lidar_slam --no-model /working/9eed9756-129f-4a90-80f1-2f17afd6c455 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/9eed9756-129f-4a90-80f1-2f17afd6c455 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 0.024206099 Adjusted end_distance from 9.223372036854776e+18 to 158.194206099 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.024206099 meters Centerline goodness : 0.959267 Centerline is valid? [0, True] The specified correction angle seems to be off! The frame is not close to be flat! SLAMing on 0.054206098999999994 meters Centerline goodness : 0.959364 Centerline is valid? [True, True] Translation: X:0.01, Y:-0.00, Z:0.03 [[ 0.9999029 -0.01137129 -0.00805506 0.01267581] [ 0.01128808 0.99988323 -0.01030121 -0.00213158] [ 0.00817125 0.01020929 0.9999145 0.02784801] [ 0. 0. 0. 1. ]] SLAMing on 0.08420609899999999 meters Centerline goodness : 0.959698 Centerline is valid? [True, True] Translation: X:0.03, Y:0.01, Z:0.06 [[ 0.99980758 0.00910664 -0.01737419 0.02501647] [-0.00931456 0.99988552 -0.01192438 0.01100841] [ 0.01726361 0.01208392 0.99977795 0.05739003] [ 0. 0. 0. 1. ]] SLAMing on 0.11420609899999998 meters Centerline goodness : 0.430089 Centerline is valid? [True, False] Translation: X:0.03, Y:0.01, Z:0.06 [[ 0.99980637 0.00898613 -0.0175063 0.02520461] [-0.00919949 0.99988392 -0.01214545 0.01112799] [ 0.01739512 0.01230415 0.99977298 0.05711468] [ 0. 0. 0. 1. ]] SLAMing on 0.14420609899999998 meters Centerline goodness : 0.959642 Centerline is valid? [False, True] Translation: X:0.03, Y:0.01, Z:0.06 [[ 0.99980345 0.00909247 -0.01761806 0.02537704] [-0.00930509 0.99988441 -0.01202394 0.01113785] [ 0.01750669 0.01218551 0.99977249 0.05689441] [ 0. 0. 0. 1. ]] SLAMing on 0.17420609899999998 meters Centerline goodness : 0.960812 Centerline is valid? [True, True] Translation: X:0.04, Y:0.03, Z:0.08 [[ 0.99830484 0.05335405 -0.02325506 0.037161 ] [-0.05345479 0.9985633 -0.00373175 0.03492043] [ 0.02302254 0.00496852 0.9997226 0.08427279] [ 0. 0. 0. 1. ]] SLAMing on 0.20420609899999997 meters Centerline goodness : 0.960812 Centerline is valid? [True, True] Translation: X:0.05, Y:0.04, Z:0.11 [[ 0.99783619 0.05868244 -0.02965312 0.04765797] [-0.05888195 0.99824752 -0.00589971 0.03914752] [ 0.02925494 0.00763298 0.99954284 0.1105843 ] [ 0. 0. 0. 1. ]] SLAMing on 0.23420609899999997 meters Centerline goodness : 0.964788 Centerline is valid? [True, True] Translation: X:0.07, Y:0.03, Z:0.14 [[ 0.9983903 0.02280659 -0.05192941 0.06606303] [-0.02498917 0.99881446 -0.0417758 0.03056114] [ 0.05091508 0.04300623 0.99777659 0.14264406] [ 0. 0. 0. 1. ]] SLAMing on 0.26420609899999997 meters Centerline goodness : 0.399703 Centerline is valid? [True, False] Translation: X:0.07, Y:0.02, Z:0.12 [[ 0.9984358 0.01107221 -0.054803 0.0662619 ] [-0.01293827 0.99934441 -0.03381357 0.02191955] [ 0.05439268 0.03446974 0.99792448 0.12420335] [ 0. 0. 0. 1. ]] SLAMing on 0.29420609899999994 meters SLAMing on 0.3242060989999999 meters Centerline goodness : 0.976100 Centerline is valid? [False, True] Translation: X:0.07, Y:0.02, Z:0.12 [[ 0.99825743 0.01744113 -0.05637292 0.0687335 ] [-0.01906927 0.99941263 -0.02847372 0.02318939] [ 0.0558432 0.02949909 0.99800368 0.12170861] [ 0. 0. 0. 1. ]] SLAMing on 0.35420609899999994 meters Centerline goodness : 0.978323 Centerline is valid? [True, True] Translation: X:0.09, Y:0.05, Z:0.14 [[ 0.9947119 0.07004291 -0.07511478 0.08791279] [-0.07151417 0.9972934 -0.017076 0.05011242] [ 0.07371542 0.02235747 0.99702868 0.14334099] [ 0. 0. 0. 1. ]] SLAMing on 0.3842060989999999 meters Centerline goodness : 0.980724 Centerline is valid? [True, True] Translation: X:0.10, Y:0.06, Z:0.17 [[ 0.99144423 0.09582797 -0.08863037 0.10372782] [-0.0974843 0.99513081 -0.01454215 0.06396545] [ 0.08680527 0.0230578 0.99595842 0.17175653] [ 0. 0. 0. 1. ]] SLAMing on 0.41420609899999994 meters Centerline goodness : 0.982211 Centerline is valid? [True, True] Translation: X:0.13, Y:0.11, Z:0.21 [[ 0.97539118 0.18695885 -0.11686931 0.13472061] [-0.18600595 0.98236285 0.01910562 0.1054866 ] [ 0.11838003 0.00310293 0.99296351 0.20584751] [ 0. 0. 0. 1. ]] SLAMing on 0.4442060989999999 meters Centerline goodness : 0.985054 Centerline is valid? [True, True] Translation: X:0.13, Y:0.04, Z:0.24 [[ 0.99215186 0.0613699 -0.10894227 0.131929 ] [-0.06405933 0.99771752 -0.02135773 0.0429094 ] [ 0.10738289 0.02816888 0.99381861 0.23895537] [ 0. 0. 0. 1. ]] SLAMing on 0.47420609899999994 meters Centerline goodness : 0.974497 Centerline is valid? [True, True] Translation: X:0.20, Y:0.23, Z:0.26 [[ 0.88517857 0.45824451 -0.08044174 0.20323502] [-0.45170084 0.88787911 0.0873902 0.22950591] [ 0.11146862 -0.04102032 0.99292098 0.26303019] [ 0. 0. 0. 1. ]] SLAMing on 0.5042060989999999 meters Centerline goodness : 0.981024 Centerline is valid? [True, True] Translation: X:0.17, Y:-0.03, Z:0.28 [[ 0.98487373 -0.08868619 -0.14885729 0.16763932] [ 0.08000598 0.9947804 -0.06333242 -0.03300461] [ 0.15369703 0.05046496 0.98682851 0.2830348 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5342060989999999 meters Centerline goodness : 0.981024 Centerline is valid? [True, True] Translation: X:0.18, Y:0.03, Z:0.32 [[ 0.98634236 0.03371109 -0.16122131 0.17652383] [-0.03902006 0.99879167 -0.02987687 0.02746259] [ 0.16001932 0.03575969 0.98646595 0.31824043] [ 0. 0. 0. 1. ]] SLAMing on 0.564206099 meters Centerline goodness : 0.975065 Centerline is valid? [True, True] Translation: X:0.19, Y:0.14, Z:0.36 [[ 9.57299038e-01 2.65611783e-01 -1.14144353e-01 1.92621754e-01] [-2.63786812e-01 9.64080005e-01 3.10847449e-02 1.37758137e-01] [ 1.18300763e-01 3.52378579e-04 9.92977747e-01 3.56940119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.594206099 meters Centerline goodness : 0.981989 Centerline is valid? [True, True] Translation: X:0.23, Y:0.14, Z:0.39 [[ 0.93411998 0.29182687 -0.20556495 0.2338248 ] [-0.28292313 0.95642675 0.07212746 0.140686 ] [ 0.21765655 -0.00921663 0.97598191 0.38664195] [ 0. 0. 0. 1. ]] SLAMing on 0.6242060989999999 meters Centerline goodness : 0.974990 Centerline is valid? [True, True] Translation: X:0.23, Y:0.20, Z:0.42 [[ 0.91351563 0.39089332 -0.11265701 0.231063 ] [-0.38467136 0.92013031 0.0734041 0.2012631 ] [ 0.1323523 -0.02371987 0.99091888 0.41854341] [ 0. 0. 0. 1. ]] SLAMing on 0.6542060989999999 meters Centerline goodness : 0.970133 Centerline is valid? [True, True] Translation: X:0.22, Y:0.11, Z:0.45 [[ 0.97028441 0.18866971 -0.15149886 0.21607731] [-0.18569371 0.98203004 0.03368749 0.11457005] [ 0.15513224 -0.00455406 0.98788322 0.45194412] [ 0. 0. 0. 1. ]] SLAMing on 0.684206099 meters Centerline goodness : 0.970133 Centerline is valid? [True, True] Translation: X:0.22, Y:0.10, Z:0.48 [[ 0.97682072 0.15037906 -0.15233981 0.21624424] [-0.1487602 0.98862776 0.02203542 0.09638813] [ 0.15392103 0.00113744 0.9880825 0.48492678] [ 0. 0. 0. 1. ]] SLAMing on 0.714206099 meters Centerline goodness : 0.978007 Centerline is valid? [True, True] Translation: X:0.21, Y:0.07, Z:0.51 [[ 0.98561332 0.10477109 -0.13262505 0.2147954 ] [-0.10486352 0.99446662 0.00630701 0.07005375] [ 0.13255197 0.00769126 0.99114621 0.51340156] [ 0. 0. 0. 1. ]] SLAMing on 0.7442060989999999 meters Centerline goodness : 0.993334 Centerline is valid? [True, True] Translation: X:0.23, Y:0.10, Z:0.53 [[ 9.73313573e-01 1.61609592e-01 -1.62920314e-01 2.26602552e-01] [-1.59510857e-01 9.86854516e-01 2.59702010e-02 9.53070703e-02] [ 1.64975682e-01 7.10409881e-04 9.86297379e-01 5.25872879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7742060989999999 meters Centerline goodness : 0.995754 Centerline is valid? [True, True] Translation: X:0.26, Y:0.13, Z:0.56 [[ 0.94361686 0.24775892 -0.21955122 0.2592524 ] [-0.24067518 0.96881789 0.05888425 0.13436715] [ 0.22729425 -0.00272364 0.97382232 0.55742352] [ 0. 0. 0. 1. ]] SLAMing on 0.804206099 meters Centerline goodness : 0.995411 Centerline is valid? [True, True] Translation: X:0.24, Y:0.03, Z:0.58 [[ 0.97941383 0.02160142 -0.2007036 0.23586031] [-0.02335945 0.99970668 -0.00639497 0.02536558] [ 0.20050659 0.01095165 0.97963114 0.57629603] [ 0. 0. 0. 1. ]] SLAMing on 0.8342060989999999 meters Centerline goodness : 0.995578 Centerline is valid? [True, True] Translation: X:0.25, Y:0.03, Z:0.60 [[ 0.97621566 0.0468296 -0.21168369 0.24549582] [-0.04687246 0.99888926 0.00481828 0.03462576] [ 0.2116742 0.00521846 0.97732635 0.6028645 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8642060989999999 meters Centerline goodness : 0.993883 Centerline is valid? [True, True] Translation: X:0.25, Y:0.05, Z:0.64 [[ 0.97864353 0.0749893 -0.19139865 0.24652927] [-0.07546787 0.99713669 0.00479857 0.0520286 ] [ 0.19121045 0.00974836 0.98150065 0.63861129] [ 0. 0. 0. 1. ]] SLAMing on 0.8942060989999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.25, Y:0.14, Z:0.69 [[ 0.93992358 0.25384886 -0.22826393 0.24554673] [-0.25066713 0.96710326 0.04332753 0.13908304] [ 0.23175344 0.0164937 0.97263472 0.68858328] [ 0. 0. 0. 1. ]] SLAMing on 0.924206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.24, Y:0.13, Z:0.72 [[ 0.94775227 0.22387068 -0.22726099 0.24117046] [-0.22183787 0.97446275 0.03478949 0.12583023] [ 0.22924572 0.01744328 0.97321227 0.72234122] [ 0. 0. 0. 1. ]] SLAMing on 0.9542060989999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.25, Y:0.11, Z:0.75 [[ 0.95216955 0.20196237 -0.22931279 0.24617722] [-0.20211145 0.97909028 0.02309081 0.11433384] [ 0.2291814 0.02436037 0.97307885 0.75481875] [ 0. 0. 0. 1. ]] SLAMing on 0.9842060989999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.26, Y:0.16, Z:0.79 [[ 0.92944872 0.29566443 -0.22069804 0.26263671] [-0.29082667 0.9552009 0.0548734 0.15936539] [ 0.22703508 0.01318286 0.97379735 0.78598453] [ 0. 0. 0. 1. ]] SLAMing on 1.014206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.26, Y:0.16, Z:0.82 [[ 0.92708882 0.30415409 -0.21908127 0.26324793] [-0.29958248 0.95250498 0.0546314 0.16466896] [ 0.22529237 0.01498475 0.97417596 0.81800424] [ 0. 0. 0. 1. ]] SLAMing on 1.0442060989999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.26, Y:0.14, Z:0.85 [[ 0.94046366 0.25709431 -0.22232999 0.25940919] [-0.25504147 0.96616708 0.03840611 0.14132783] [ 0.22468191 0.02058382 0.97421473 0.8506956 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0742060989999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.26, Y:0.13, Z:0.88 [[ 0.94531341 0.23533203 -0.22583489 0.26173042] [-0.23387446 0.97168662 0.03358349 0.13058827] [ 0.22734401 0.02107009 0.97358654 0.88302767] [ 0. 0. 0. 1. ]] SLAMing on 1.1042060989999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.27, Y:0.16, Z:0.91 [[ 0.93283697 0.28695368 -0.21788248 0.27014102] [-0.28256943 0.95785178 0.05171542 0.15802802] [ 0.22353905 0.01332487 0.97460389 0.91483743] [ 0. 0. 0. 1. ]] SLAMing on 1.1342060989999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.27, Y:0.14, Z:0.95 [[ 0.94257628 0.25490592 -0.21580761 0.26720749] [-0.25215844 0.96683178 0.04065002 0.13913733] [ 0.21901159 0.01610197 0.97558939 0.94848278] [ 0. 0. 0. 1. ]] SLAMing on 1.1642060989999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:0.27, Y:0.14, Z:0.98 [[ 0.94166661 0.25885799 -0.21507332 0.26941198] [-0.25583886 0.96579532 0.04225965 0.13887169] [ 0.21865606 0.01522961 0.97568314 0.98077351] [ 0. 0. 0. 1. ]] SLAMing on 1.1942060989999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.28, Y:0.14, Z:1.01 [[ 0.93918171 0.26619444 -0.21697522 0.27964797] [-0.26296965 0.96379327 0.04415308 0.14303802] [ 0.22087256 0.01559013 0.97517807 1.01340353] [ 0. 0. 0. 1. ]] SLAMing on 1.2242060989999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.29, Y:0.16, Z:1.05 [[ 0.93258375 0.28878714 -0.2165399 0.28729782] [-0.28580321 0.95719901 0.04567904 0.15605258] [ 0.2204633 0.01928827 0.97520454 1.0458492 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2542060989999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.29, Y:0.16, Z:1.08 [[ 0.92731673 0.30598983 -0.21553169 0.29323102] [-0.30312294 0.95178795 0.04707641 0.16449092] [ 0.21954537 0.02167786 0.97536142 1.07890385] [ 0. 0. 0. 1. ]] SLAMing on 1.2842060989999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.30, Y:0.16, Z:1.11 [[ 0.92898841 0.30027379 -0.21637048 0.29609834] [-0.29686338 0.95366752 0.04889169 0.15927958] [ 0.22102639 0.01881266 0.97508636 1.11182911] [ 0. 0. 0. 1. ]] SLAMing on 1.3142060989999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.28, Y:0.12, Z:1.14 [[ 0.94769855 0.24414961 -0.20556855 0.28487869] [-0.23944176 0.96972991 0.04787005 0.116405 ] [ 0.21103342 0.00385532 0.97747124 1.14474311] [ 0. 0. 0. 1. ]] SLAMing on 1.3442060989999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.29, Y:0.11, Z:1.18 [[ 0.94865877 0.24341788 -0.2019759 0.28547133] [-0.23839531 0.96992041 0.04921462 0.11217952] [ 0.20788027 0.00146223 0.97815319 1.17763107] [ 0. 0. 0. 1. ]] SLAMing on 1.3742060989999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.28, Y:0.08, Z:1.21 [[ 0.96069635 0.20065681 -0.19183161 0.28131313] [-0.19521612 0.97963091 0.04705267 0.07524941] [ 0.19736561 -0.00775471 0.98029928 1.20881149] [ 0. 0. 0. 1. ]] SLAMing on 1.4042060989999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.29, Y:0.08, Z:1.24 [[ 0.95654028 0.22140749 -0.18976149 0.28599003] [-0.21618165 0.97516874 0.04807723 0.08057179] [ 0.19569413 -0.00496486 0.98065241 1.24128415] [ 0. 0. 0. 1. ]] SLAMing on 1.4342060989999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.29, Y:0.08, Z:1.27 [[ 0.95355548 0.23468765 -0.18882178 0.29029907] [-0.22948601 0.97206397 0.04927277 0.08499795] [ 0.19511055 -0.00365236 0.98077446 1.27396972] [ 0. 0. 0. 1. ]] SLAMing on 1.4642060989999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.30, Y:0.09, Z:1.31 [[ 0.94881504 0.25294135 -0.18913142 0.29622319] [-0.24779575 0.96748072 0.05077709 0.09220933] [ 0.19582463 -0.0013121 0.98063805 1.30686198] [ 0. 0. 0. 1. ]] SLAMing on 1.4942060989999997 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:0.30, Y:0.14, Z:1.34 [[ 0.93027002 0.31163796 -0.19359617 0.3027268 ] [-0.30716915 0.95015121 0.05347692 0.14366491] [ 0.20061108 0.0097188 0.97962275 1.34056711] [ 0. 0. 0. 1. ]] SLAMing on 1.5242060989999997 meters Centerline goodness : 0.995848 Centerline is valid? [True, True] Translation: X:0.31, Y:0.13, Z:1.37 [[ 0.95172921 0.25409952 -0.1721771 0.31238531] [-0.24939123 0.96717167 0.04881568 0.12881561] [ 0.17892885 -0.00351985 0.98385572 1.37207357] [ 0. 0. 0. 1. ]] SLAMing on 1.5542060989999997 meters Centerline goodness : 0.995825 Centerline is valid? [True, True] Translation: X:0.38, Y:0.15, Z:1.40 [[ 0.95366295 0.2609 -0.1498605 0.38311129] [-0.25724946 0.96536109 0.04359677 0.14975451] [ 0.15604389 -0.0030251 0.98774549 1.39860238] [ 0. 0. 0. 1. ]] SLAMing on 1.5842060989999998 meters Centerline goodness : 0.991242 Centerline is valid? [True, True] Translation: X:0.41, Y:0.16, Z:1.43 [[ 0.942035 0.30259896 -0.14492732 0.40702927] [-0.29949298 0.95311444 0.04332224 0.15602719] [ 0.15124159 0.00259365 0.98849343 1.42924898] [ 0. 0. 0. 1. ]] SLAMing on 1.6142060989999998 meters Centerline goodness : 0.988263 Centerline is valid? [True, True] Translation: X:0.40, Y:0.14, Z:1.46 [[ 0.95196903 0.27213091 -0.14035572 0.40427829] [-0.2697721 0.96225331 0.03593855 0.14116273] [ 0.14483774 0.00365167 0.98944868 1.45954254] [ 0. 0. 0. 1. ]] SLAMing on 1.6442060989999996 meters Centerline goodness : 0.985996 Centerline is valid? [True, True] Translation: X:0.41, Y:0.15, Z:1.49 [[ 0.94279604 0.29348728 -0.15811654 0.41225273] [-0.28985231 0.95596007 0.04610845 0.15239389] [ 0.16468534 0.00235958 0.98634333 1.49201239] [ 0. 0. 0. 1. ]] SLAMing on 1.6742060989999996 meters Centerline goodness : 0.985631 Centerline is valid? [True, True] Translation: X:0.42, Y:0.16, Z:1.53 [[ 9.38386369e-01 3.06963746e-01 -1.58758561e-01 4.15166072e-01] [-3.02922844e-01 9.51720049e-01 4.96658765e-02 1.57273107e-01] [ 1.66339329e-01 1.48581338e-03 9.86067452e-01 1.52508871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7042060989999996 meters Centerline goodness : 0.985631 Centerline is valid? [True, True] Translation: X:0.42, Y:0.16, Z:1.56 [[ 9.37509629e-01 3.09704149e-01 -1.58616000e-01 4.18775246e-01] [-3.05625698e-01 9.50831803e-01 5.01180202e-02 1.57587385e-01] [ 1.66338896e-01 1.49099910e-03 9.86067517e-01 1.55843755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7342060989999997 meters Centerline goodness : 0.986485 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.14, Z:1.60 [[ 0.92540657 -0.36357988 -0.10692219 0.37561909] [ 0.35377139 0.92993834 -0.10030195 -0.14377175] [ 0.13589881 0.05499407 0.98919521 1.60406614] [ 0. 0. 0. 1. ]] SLAMing on 1.7642060989999997 meters Centerline goodness : 0.987425 Centerline is valid? [True, True] Translation: X:0.34, Y:0.05, Z:1.66 [[ 0.9940741 0.0617667 -0.08945144 0.33679121] [-0.06275144 0.9979952 -0.0082358 0.05045447] [ 0.08876341 0.0138002 0.99595713 1.66342858] [ 0. 0. 0. 1. ]] SLAMing on 1.7942060989999997 meters Centerline goodness : 0.987425 Centerline is valid? [True, True] Translation: X:0.43, Y:0.29, Z:1.71 [[ 0.82008301 0.57080747 -0.04053004 0.4324535 ] [-0.56669861 0.81993234 0.08101631 0.29479956] [ 0.0794766 -0.04347178 0.99588838 1.70591811] [ 0. 0. 0. 1. ]] SLAMing on 1.8242060989999997 meters Centerline goodness : 0.985315 Centerline is valid? [True, True] Translation: X:0.46, Y:0.35, Z:1.75 [[ 0.74335017 0.66888884 -0.00427153 0.45820471] [-0.66587776 0.74058031 0.09026412 0.34943002] [ 0.06354007 -0.06425353 0.9959087 1.74989576] [ 0. 0. 0. 1. ]] SLAMing on 1.8542060989999996 meters Centerline goodness : 0.751985 Centerline is valid? [True, False] Translation: X:0.43, Y:0.33, Z:1.75 [[ 0.79381429 0.60792796 -0.0168067 0.43140811] [-0.605589 0.79269475 0.06997856 0.32872048] [ 0.05586451 -0.04537203 0.99740691 1.75111502] [ 0. 0. 0. 1. ]] SLAMing on 1.8842060989999996 meters Centerline goodness : 0.751985 Centerline is valid? [False, False] Translation: X:0.41, Y:0.30, Z:1.76 [[ 0.84188166 0.53894241 -0.02786287 0.407375 ] [-0.53730861 0.84190879 0.04989046 0.3005489 ] [ 0.05034608 -0.0270309 0.99836597 1.76438639] [ 0. 0. 0. 1. ]] SLAMing on 1.9142060989999996 meters Centerline goodness : 0.973920 Centerline is valid? [False, True] Translation: X:0.38, Y:0.27, Z:1.76 [[ 0.88219275 0.46966567 -0.03391331 0.38265832] [-0.46877638 0.88276882 0.03111127 0.27364473] [ 0.0445495 -0.01154837 0.99894043 1.75921614] [ 0. 0. 0. 1. ]] SLAMing on 1.9442060989999996 meters Centerline goodness : 0.980735 Centerline is valid? [True, True] Translation: X:0.48, Y:0.44, Z:1.80 [[ 0.66509657 0.74631335 0.02574756 0.48193977] [-0.74668614 0.66416156 0.03673195 0.44388763] [ 0.01031301 -0.04365564 0.99899341 1.79828792] [ 0. 0. 0. 1. ]] SLAMing on 1.9742060989999997 meters Centerline goodness : 0.981629 Centerline is valid? [True, True] Translation: X:0.29, Y:0.08, Z:1.82 [[ 0.99875943 0.04131879 -0.02779125 0.28875395] [-0.04304743 0.99697042 -0.06478356 0.07528869] [ 0.02503028 0.06589954 0.99751227 1.82318815] [ 0. 0. 0. 1. ]] SLAMing on 2.0042060989999997 meters Centerline goodness : 0.983121 Centerline is valid? [True, True] Translation: X:0.29, Y:0.11, Z:1.87 [[ 0.99367229 0.11150572 -0.01348563 0.28861975] [-0.11203572 0.99251325 -0.04863584 0.10565426] [ 0.00796149 0.04983896 0.99872553 1.86525679] [ 0. 0. 0. 1. ]] SLAMing on 2.034206099 meters Centerline goodness : 0.983962 Centerline is valid? [True, True] Translation: X:0.34, Y:0.26, Z:1.91 [[ 9.07554559e-01 4.19667108e-01 1.49746660e-02 3.37750484e-01] [-4.19698337e-01 9.07662931e-01 -1.14448536e-03 2.62719387e-01] [-1.40722521e-02 -5.24615948e-03 9.99887218e-01 1.90804364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0642060989999997 meters Centerline goodness : 0.984689 Centerline is valid? [True, True] Translation: X:0.62, Y:0.52, Z:1.90 [[ 0.39156975 0.91398125 0.10635507 0.61837312] [-0.91985957 0.38592721 0.07013251 0.51602813] [ 0.02305448 -0.12529349 0.99185182 1.89777871] [ 0. 0. 0. 1. ]] SLAMing on 2.094206099 meters Centerline goodness : 0.983165 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.04, Z:1.94 [[ 0.99020932 -0.13837606 -0.01837322 0.2945223 ] [ 0.13644784 0.98726735 -0.08176293 -0.03657712] [ 0.02945332 0.07845543 0.99648244 1.93697721] [ 0. 0. 0. 1. ]] SLAMing on 2.124206099 meters Centerline goodness : 0.967377 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.54, Z:1.89 [[ 0.01367704 -0.99437957 0.10498675 0.80465403] [ 0.98136235 -0.00677833 -0.19204684 -0.53682844] [ 0.19167909 0.10565668 0.97575396 1.89315021] [ 0. 0. 0. 1. ]] SLAMing on 2.154206099 meters Centerline goodness : 0.970078 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.35, Z:1.80 [[-0.71009473 -0.65815493 0.25019505 1.1576542 ] [ 0.62696089 -0.75274625 -0.2007315 -0.35174635] [ 0.32044581 0.01432413 0.94715854 1.79898337] [ 0. 0. 0. 1. ]] SLAMing on 2.184206099 meters Centerline goodness : 0.986986 Centerline is valid? [True, True] Translation: X:0.68, Y:0.47, Z:1.89 [[ 0.19175153 0.9627229 0.19077726 0.6778208 ] [-0.96988638 0.15613593 0.18692775 0.47112838] [ 0.15017245 -0.22087595 0.96367113 1.88677437] [ 0. 0. 0. 1. ]] SLAMing on 2.2142060989999997 meters Centerline goodness : 0.987852 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.07, Z:2.00 [[ 0.99753102 -0.06984523 0.00731435 0.25031806] [ 0.06986837 0.99755184 -0.00295638 -0.06522596] [-0.00708995 0.00346012 0.99996888 1.99727571] [ 0. 0. 0. 1. ]] SLAMing on 2.244206099 meters Centerline goodness : 0.991308 Centerline is valid? [True, True] Translation: X:0.36, Y:0.26, Z:1.98 [[ 0.80381197 0.59236186 0.05471511 0.36105553] [-0.59156034 0.78622539 0.1786225 0.26320208] [ 0.06279075 -0.17594619 0.98239516 1.98038378] [ 0. 0. 0. 1. ]] SLAMing on 2.2742060989999997 meters Centerline goodness : 0.990925 Centerline is valid? [True, True] Translation: X:0.52, Y:0.37, Z:1.98 [[ 0.57470118 0.80945131 0.12044555 0.51782141] [-0.81204068 0.54579108 0.20664469 0.37487002] [ 0.10153071 -0.21656564 0.97097417 1.97714731] [ 0. 0. 0. 1. ]] SLAMing on 2.304206099 meters Centerline goodness : 0.989363 Centerline is valid? [True, True] Translation: X:0.28, Y:0.07, Z:2.06 [[ 0.9837771 0.17858915 0.01698644 0.28381687] [-0.17928298 0.98209269 0.05789273 0.06938494] [-0.00634324 -0.05999892 0.99817829 2.05986445] [ 0. 0. 0. 1. ]] SLAMing on 2.3342060989999998 meters Centerline goodness : 0.992616 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.24, Z:2.08 [[ 0.90234537 -0.43079742 -0.01365317 0.32334914] [ 0.42655179 0.89710215 -0.11515772 -0.24241695] [ 0.06185793 0.09808825 0.99325339 2.07993427] [ 0. 0. 0. 1. ]] SLAMing on 2.364206099 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:0.54, Y:0.41, Z:2.06 [[ 0.48889412 0.85990038 0.14681236 0.54104524] [-0.86247051 0.45121845 0.2292303 0.40944637] [ 0.13087078 -0.23869068 0.96223677 2.05718472] [ 0. 0. 0. 1. ]] SLAMing on 2.394206099 meters Centerline goodness : 0.442956 Centerline is valid? [True, False] Translation: X:0.51, Y:0.39, Z:2.12 [[ 0.58948277 0.80306196 0.08718681 0.51118349] [-0.79976023 0.56504781 0.20274254 0.38746748] [ 0.1135501 -0.18924178 0.97534298 2.11531988] [ 0. 0. 0. 1. ]] SLAMing on 2.4242060989999996 meters SLAMing on 2.454206099 meters Centerline goodness : 0.997057 Centerline is valid? [False, True] Translation: X:0.48, Y:0.36, Z:2.15 [[ 0.67750611 0.73492713 0.02945476 0.48127007] [-0.72832996 0.66476295 0.16620978 0.36296359] [ 0.10257164 -0.13406093 0.98565041 2.15392442] [ 0. 0. 0. 1. ]] SLAMing on 2.4842060989999997 meters Centerline goodness : 0.997013 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.18, Z:2.20 [[ 0.94837875 -0.30961901 -0.06865727 0.34164128] [ 0.30521123 0.94987872 -0.06764991 -0.18114303] [ 0.08616178 0.04320277 0.99534399 2.19613143] [ 0. 0. 0. 1. ]] SLAMing on 2.514206099 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.05, Z:2.23 [[ 9.98152452e-01 -4.44743604e-02 -4.13970213e-02 3.07902042e-01] [ 4.44406469e-02 9.99010520e-01 -1.73474216e-03 -4.66209945e-02] [ 4.14332113e-02 -1.08173266e-04 9.99141270e-01 2.23492013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5442060989999997 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.01, Z:2.26 [[ 9.96481048e-01 8.40380273e-03 -8.33960308e-02 3.31434871e-01] [-8.36609010e-03 9.99964682e-01 8.01665310e-04 -1.48267623e-02] [ 8.33998225e-02 -1.01145580e-04 9.96516161e-01 2.26204579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.574206099 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.02, Z:2.29 [[ 9.96337729e-01 9.54853525e-04 -8.54998134e-02 3.37219202e-01] [-1.20401783e-03 9.99995178e-01 -2.86269013e-03 -1.83776644e-02] [ 8.54966677e-02 2.95514948e-03 9.96334074e-01 2.29314378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6042060989999998 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.03, Z:2.32 [[ 0.99549254 -0.02190385 -0.09227581 0.34129915] [ 0.02063495 0.99967925 -0.01468309 -0.02893028] [ 0.09256783 0.0127128 0.99562522 2.31926425] [ 0. 0. 0. 1. ]] SLAMing on 2.6342060989999996 meters Centerline goodness : 0.997338 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.01, Z:2.36 [[ 0.99723821 0.00726469 -0.07391336 0.33873135] [-0.00783768 0.99994142 -0.00746503 -0.01494065] [ 0.0738548 0.00802372 0.99723673 2.35687124] [ 0. 0. 0. 1. ]] SLAMing on 2.664206099 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:0.36, Y:0.01, Z:2.39 [[ 0.99305641 0.05173499 -0.10565249 0.36316671] [-0.05287465 0.99856901 -0.00801264 0.01389999] [ 0.10508677 0.01354334 0.99437083 2.38702766] [ 0. 0. 0. 1. ]] SLAMing on 2.6942060989999996 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:0.38, Y:0.10, Z:2.42 [[ 0.9709787 0.21232495 -0.11008399 0.38463826] [-0.21046816 0.97718937 0.02835636 0.09819053] [ 0.11359367 -0.00436425 0.99351771 2.41963853] [ 0. 0. 0. 1. ]] SLAMing on 2.724206099 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:0.39, Y:0.10, Z:2.45 [[ 0.96985587 0.21753058 -0.1098182 0.38973474] [-0.21559421 0.97604174 0.02935404 0.09983298] [ 0.11357255 -0.00479302 0.99351814 2.45283842] [ 0. 0. 0. 1. ]] SLAMing on 2.7542060989999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.38, Y:0.06, Z:2.50 [[ 0.98530065 0.12713298 -0.11410445 0.38490447] [-0.12758021 0.99182241 0.00340457 0.0551865 ] [ 0.11360418 0.01120295 0.99346292 2.49785994] [ 0. 0. 0. 1. ]] SLAMing on 2.784206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.47, Y:0.26, Z:2.51 [[ 0.83850214 0.5412338 -0.06308833 0.46763693] [-0.53303861 0.83876022 0.11113564 0.26294214] [ 0.11306634 -0.05955896 0.99180075 2.5099942 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8142060989999997 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:0.39, Y:0.07, Z:2.55 [[ 0.98085662 0.16733688 -0.09959244 0.39222707] [-0.16682265 0.9858941 0.01352858 0.07128883] [ 0.10045143 0.00334467 0.99493634 2.54647828] [ 0. 0. 0. 1. ]] SLAMing on 2.8442060989999995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:0.38, Y:0.08, Z:2.57 [[ 0.97672207 0.19804703 -0.08240981 0.38411209] [-0.19650186 0.98014426 0.02653759 0.08311764] [ 0.0860292 -0.00972617 0.99624514 2.5683719 ] [ 0. 0. 0. 1. ]] SLAMing on 2.874206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.40, Y:0.07, Z:2.60 [[ 0.97950069 0.17336821 -0.10257615 0.40124251] [-0.17149291 0.98481819 0.0268946 0.06786238] [ 0.10568153 -0.0087522 0.99436151 2.602627 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9042060989999996 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:0.40, Y:0.04, Z:2.64 [[ 9.85220692e-01 1.16269368e-01 -1.25784029e-01 4.03434420e-01] [-1.17472384e-01 9.93073792e-01 -2.16371604e-03 4.11100569e-02] [ 1.24661249e-01 1.69078876e-02 9.92055289e-01 2.63695969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.934206099 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:0.39, Y:0.08, Z:2.66 [[ 0.97698416 0.19841808 -0.07830848 0.39443343] [-0.19695324 0.98006584 0.02608379 0.0789737 ] [ 0.08192297 -0.01006034 0.99658789 2.66148386] [ 0. 0. 0. 1. ]] SLAMing on 2.9642060989999997 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:0.39, Y:0.04, Z:2.70 [[ 9.87651173e-01 1.32811023e-01 -8.31047149e-02 3.93511313e-01] [-1.32345679e-01 9.91141378e-01 1.11081025e-02 4.29142783e-02] [ 8.38438001e-02 2.76194103e-05 9.96478909e-01 2.69550042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.994206099 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:0.40, Y:0.05, Z:2.72 [[ 9.85825028e-01 1.47592305e-01 -7.97842392e-02 3.99212121e-01] [-1.46898814e-01 9.89044871e-01 1.45252395e-02 5.06071493e-02] [ 8.10540061e-02 -2.59913453e-03 9.96706322e-01 2.72252220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0242060989999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.41, Y:0.04, Z:2.74 [[ 0.9876409 0.1218835 -0.09853866 0.40872122] [-0.12202959 0.99251596 0.00456581 0.03928436] [ 0.09835769 0.00751525 0.99512275 2.74344816] [ 0. 0. 0. 1. ]] SLAMing on 3.0542060989999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.43, Y:0.05, Z:2.78 [[ 0.98205691 0.14423177 -0.12149661 0.42809053] [-0.14484513 0.98944698 0.00381513 0.05277227] [ 0.12076472 0.01385151 0.99258451 2.77874256] [ 0. 0. 0. 1. ]] SLAMing on 3.0842060989999998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:0.43, Y:0.08, Z:2.81 [[ 9.73675517e-01 2.03642946e-01 -1.02398914e-01 4.32789979e-01] [-2.02592137e-01 9.79045028e-01 2.06702416e-02 8.20717440e-02] [ 1.04462496e-01 6.19106587e-04 9.94528634e-01 2.80534417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1142060989999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.44, Y:0.08, Z:2.83 [[ 9.73699854e-01 2.00079181e-01 -1.08981258e-01 4.37387517e-01] [-1.99076400e-01 9.79777465e-01 2.01173283e-02 7.84698773e-02] [ 1.10802440e-01 2.10735687e-03 9.93840218e-01 2.83340264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.144206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.45, Y:0.07, Z:2.88 [[ 0.97395452 0.18990018 -0.12389717 0.44666937] [-0.18967897 0.98175074 0.01368839 0.07280652] [ 0.12423557 0.01016882 0.99220064 2.88012226] [ 0. 0. 0. 1. ]] SLAMing on 3.1742060989999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.46, Y:0.11, Z:2.89 [[ 0.95532436 0.27345031 -0.11216195 0.46078891] [-0.27096162 0.96187256 0.03716154 0.11310456] [ 0.11804733 -0.00510974 0.99299482 2.89187324] [ 0. 0. 0. 1. ]] SLAMing on 3.204206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.46, Y:0.08, Z:2.94 [[ 0.97044243 0.20524339 -0.12695132 0.45913574] [-0.20459275 0.97867637 0.0182855 0.07745487] [ 0.12799723 0.0082283 0.99174039 2.94083546] [ 0. 0. 0. 1. ]] SLAMing on 3.2342060989999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:0.47, Y:0.10, Z:2.97 [[ 9.60321952e-01 2.50247274e-01 -1.23118032e-01 4.70849900e-01] [-2.48512375e-01 9.68179310e-01 2.95029381e-02 9.92292929e-02] [ 1.26583361e-01 2.26403556e-03 9.91953389e-01 2.97219057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2642060989999995 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:0.48, Y:0.12, Z:3.00 [[ 9.50441966e-01 2.85933186e-01 -1.22074905e-01 4.79645263e-01] [-2.83242541e-01 9.58245735e-01 3.92272212e-02 1.17705081e-01] [ 1.28194121e-01 -2.70639105e-03 9.91745402e-01 3.00468708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2942060989999997 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:0.48, Y:0.11, Z:3.04 [[ 9.53664751e-01 2.74543943e-01 -1.23081953e-01 4.82165408e-01] [-2.72190698e-01 9.61574291e-01 3.58762825e-02 1.10940819e-01] [ 1.28202058e-01 -7.12183332e-04 9.91747813e-01 3.03791983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3242060989999995 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:0.49, Y:0.11, Z:3.07 [[ 9.52417677e-01 2.78653101e-01 -1.23503108e-01 4.87339220e-01] [-2.76306525e-01 9.60391789e-01 3.60876090e-02 1.12646634e-01] [ 1.28667295e-01 -2.45762275e-04 9.91687787e-01 3.06962670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3542060989999998 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:0.49, Y:0.09, Z:3.10 [[ 9.61652698e-01 2.46306400e-01 -1.20653412e-01 4.88503636e-01] [-2.44743312e-01 9.69188096e-01 2.78414388e-02 9.30557785e-02] [ 1.23793375e-01 2.75532106e-03 9.92304191e-01 3.10003035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3842060989999996 meters Centerline goodness : 0.992062 Centerline is valid? [True, True] Translation: X:0.50, Y:0.10, Z:3.13 [[ 9.58076817e-01 2.57679397e-01 -1.25260294e-01 4.96134030e-01] [-2.55327636e-01 9.66229572e-01 3.47593392e-02 9.80457862e-02] [ 1.29986966e-01 -1.31970238e-03 9.91514824e-01 3.13185749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.414206099 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:0.51, Y:0.12, Z:3.15 [[ 0.94435632 0.30509343 -0.12291921 0.50720013] [-0.30131089 0.95228009 0.04872758 0.12108558] [ 0.13191998 -0.0089793 0.9912197 3.15416217] [ 0. 0. 0. 1. ]] SLAMing on 3.4442060989999996 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:0.50, Y:0.08, Z:3.18 [[ 9.64834051e-01 2.25011705e-01 -1.35885929e-01 5.01172337e-01] [-2.22909386e-01 9.74355826e-01 3.06941256e-02 7.86661702e-02] [ 1.39307784e-01 6.75511453e-04 9.90248900e-01 3.17976359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4742060989999994 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:0.51, Y:0.08, Z:3.21 [[ 9.64862721e-01 2.22099759e-01 -1.40398101e-01 5.07152909e-01] [-2.19988565e-01 9.75022972e-01 3.05816219e-02 7.59913430e-02] [ 1.43683545e-01 1.37890990e-03 9.89622725e-01 3.21061494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5042060989999997 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:0.52, Y:0.08, Z:3.25 [[ 0.96229914 0.23145371 -0.14286199 0.51534464] [-0.22981164 0.9728288 0.02812006 0.08169942] [ 0.14548875 0.00577144 0.98934307 3.24527401] [ 0. 0. 0. 1. ]] SLAMing on 3.5342060989999995 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:0.53, Y:0.10, Z:3.27 [[ 9.51879824e-01 2.69471241e-01 -1.45979628e-01 5.25895700e-01] [-2.66627488e-01 9.63006902e-01 3.90831188e-02 9.88301038e-02] [ 1.51111166e-01 1.71974924e-03 9.88515280e-01 3.27341010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5642060989999997 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:0.52, Y:0.09, Z:3.32 [[ 0.95746221 0.25494844 -0.13515699 0.52429042] [-0.25311653 0.96694341 0.03086187 0.09258641] [ 0.13855734 0.00466139 0.99034344 3.31775394] [ 0. 0. 0. 1. ]] SLAMing on 3.5942060989999995 meters Centerline goodness : 0.995660 Centerline is valid? [True, True] Translation: X:0.54, Y:0.14, Z:3.35 [[ 0.93138201 0.34241029 -0.12362341 0.54018631] [-0.33857732 0.93953097 0.05144853 0.13806472] [ 0.13376453 -0.00606215 0.9909946 3.35058037] [ 0. 0. 0. 1. ]] SLAMing on 3.624206099 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:0.54, Y:0.12, Z:3.38 [[ 9.43447194e-01 3.06375009e-01 -1.26656015e-01 5.39181263e-01] [-3.03491136e-01 9.51910211e-01 4.19533107e-02 1.15678727e-01] [ 1.33418600e-01 -1.14175540e-03 9.91059117e-01 3.37941141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6542060989999996 meters Centerline goodness : 0.991702 Centerline is valid? [True, True] Translation: X:0.54, Y:0.11, Z:3.42 [[ 9.46776319e-01 2.95695822e-01 -1.27195060e-01 5.41967611e-01] [-2.93091795e-01 9.55282125e-01 3.91568837e-02 1.09127939e-01] [ 1.33085694e-01 2.07018187e-04 9.91104513e-01 3.42038809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6842060989999994 meters Centerline goodness : 0.994195 Centerline is valid? [True, True] Translation: X:0.55, Y:0.13, Z:3.45 [[ 0.93477439 0.33772188 -0.11018514 0.54684104] [-0.33446742 0.94121675 0.04735588 0.13226563] [ 0.11970122 -0.00741372 0.99278228 3.45277776] [ 0. 0. 0. 1. ]] SLAMing on 3.7142060989999997 meters Centerline goodness : 0.992040 Centerline is valid? [True, True] Translation: X:0.55, Y:0.10, Z:3.48 [[ 9.49333339e-01 2.90698165e-01 -1.19418541e-01 5.47222984e-01] [-2.88473973e-01 9.56814735e-01 3.58933168e-02 1.04526418e-01] [ 1.24695541e-01 3.74418785e-04 9.92194982e-01 3.48252264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7442060989999995 meters Centerline goodness : 0.981878 Centerline is valid? [True, True] Translation: X:0.56, Y:0.11, Z:3.51 [[ 9.43503013e-01 3.07997874e-01 -1.22226732e-01 5.56144344e-01] [-3.05180475e-01 9.51385030e-01 4.16101205e-02 1.11001127e-01] [ 1.29100512e-01 -1.95806176e-03 9.91629580e-01 3.50937188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7742060989999997 meters Centerline goodness : 0.993938 Centerline is valid? [True, True] Translation: X:0.56, Y:0.13, Z:3.54 [[ 0.93008226 0.34654751 -0.12186798 0.56412755] [-0.34280214 0.93801456 0.05114076 0.13065278] [ 0.13203664 -0.00578851 0.99122793 3.54161786] [ 0. 0. 0. 1. ]] SLAMing on 3.8042060989999995 meters Centerline goodness : 0.993938 Centerline is valid? [True, True] Translation: X:0.57, Y:0.12, Z:3.57 [[ 9.35557240e-01 3.30872757e-01 -1.23514655e-01 5.65013667e-01] [-3.27545857e-01 9.43669076e-01 4.69295833e-02 1.21275875e-01] [ 1.32084681e-01 -3.44859787e-03 9.91232437e-01 3.57486280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8342060989999998 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:0.57, Y:0.12, Z:3.61 [[ 9.34539453e-01 3.33745384e-01 -1.23491013e-01 5.69153955e-01] [-3.30451690e-01 9.42658509e-01 4.68680615e-02 1.21582406e-01] [ 1.32051853e-01 -2.99223868e-03 9.91238294e-01 3.60761830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8642060989999996 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:0.57, Y:0.12, Z:3.64 [[ 9.37272232e-01 3.26119830e-01 -1.23152833e-01 5.72788536e-01] [-3.23230386e-01 9.45328101e-01 4.33231959e-02 1.15510310e-01] [ 1.30548387e-01 -7.98890696e-04 9.91441617e-01 3.63851753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8942060989999994 meters Centerline goodness : 0.999884 Centerline is valid? [True, True] Translation: X:0.58, Y:0.13, Z:3.67 [[ 9.25931297e-01 3.55094282e-01 -1.28682878e-01 5.84728424e-01] [-3.51258019e-01 9.34825409e-01 5.21465174e-02 1.28451268e-01] [ 1.38812954e-01 -3.08319953e-03 9.90313818e-01 3.67248569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9242060989999996 meters Centerline goodness : 0.999815 Centerline is valid? [True, True] Translation: X:0.58, Y:0.12, Z:3.70 [[ 9.33952877e-01 3.35572490e-01 -1.22976127e-01 5.82290173e-01] [-3.32565497e-01 9.42013882e-01 4.48334236e-02 1.17870665e-01] [ 1.30890083e-01 -9.74687947e-04 9.91396407e-01 3.70363858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9542060989999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.59, Y:0.12, Z:3.74 [[ 0.9315874 0.34264186 -0.1214145 0.58599539] [-0.33922461 0.93945788 0.04843095 0.12099355] [ 0.13065828 -0.00393087 0.99141967 3.73552985] [ 0. 0. 0. 1. ]] SLAMing on 3.9842060989999997 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:0.59, Y:0.12, Z:3.77 [[ 0.92842761 0.35188929 -0.11914738 0.58857321] [-0.34850966 0.93603398 0.04879955 0.12339223] [ 0.12869804 -0.00378284 0.99167661 3.76827468] [ 0. 0. 0. 1. ]] SLAMing on 4.014206098999999 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:0.68, Y:0.31, Z:3.80 [[ 0.78035185 0.61729418 -0.09999441 0.67676648] [-0.616718 0.78615183 0.04030143 0.31371164] [ 0.10348863 0.03021906 0.99417147 3.79893856] [ 0. 0. 0. 1. ]] SLAMing on 4.044206098999999 meters Centerline goodness : 0.997442 Centerline is valid? [True, True] Translation: X:0.67, Y:0.10, Z:3.82 [[ 0.93981869 0.2867065 -0.18584998 0.6663911 ] [-0.28784718 0.95743698 0.02141108 0.10346447] [ 0.18407834 0.03337386 0.98234482 3.81649404] [ 0. 0. 0. 1. ]] SLAMing on 4.0742060989999995 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:0.63, Y:0.19, Z:3.87 [[ 0.88540703 0.45673761 -0.08628526 0.62619239] [-0.45361245 0.8895588 0.05404527 0.19321933] [ 0.10144032 -0.00871199 0.99480348 3.86857287] [ 0. 0. 0. 1. ]] SLAMing on 4.104206098999999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:0.62, Y:0.15, Z:3.90 [[ 9.13428760e-01 3.94937537e-01 -9.83475624e-02 6.23301765e-01] [-3.93110741e-01 9.18699999e-01 3.81347328e-02 1.51725449e-01] [ 1.05412743e-01 3.82812143e-03 9.94421188e-01 3.89911740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.134206098999999 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:0.63, Y:0.15, Z:3.93 [[ 0.90919432 0.40506358 -0.09638039 0.62956212] [-0.40336033 0.91427565 0.037423 0.15182879] [ 0.10327694 0.00485125 0.99464081 3.93207264] [ 0. 0. 0. 1. ]] SLAMing on 4.164206098999999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:0.64, Y:0.16, Z:3.96 [[ 0.88789054 0.44975648 -0.09679621 0.63737856] [-0.44828791 0.89309571 0.03765631 0.1633182 ] [ 0.10338445 0.00995789 0.99459162 3.96412565] [ 0. 0. 0. 1. ]] SLAMing on 4.194206098999999 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:0.64, Y:0.16, Z:4.00 [[ 0.8847386 0.45477112 -0.10208251 0.63526548] [-0.45313632 0.89054229 0.04002372 0.16268641] [ 0.10911042 0.01084676 0.99397045 3.9972796 ] [ 0. 0. 0. 1. ]] SLAMing on 4.224206098999999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:0.66, Y:0.19, Z:4.03 [[ 0.84930344 0.5177121 -0.10323689 0.66037967] [-0.5164331 0.85535235 0.04085607 0.18833074] [ 0.1094556 0.01861575 0.99381735 4.02871498] [ 0. 0. 0. 1. ]] SLAMing on 4.254206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.65, Y:0.14, Z:4.06 [[ 0.88711499 0.44199017 -0.13293488 0.64855659] [-0.44171163 0.89654244 0.03320377 0.13587799] [ 0.1338575 0.02926332 0.99056844 4.05898564] [ 0. 0. 0. 1. ]] SLAMing on 4.2842060989999995 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:0.67, Y:0.19, Z:4.09 [[ 0.83600453 0.53698143 -0.11290427 0.66923672] [-0.53354125 0.84354652 0.06134326 0.18512051] [ 0.12818019 0.00895584 0.99171046 4.09071252] [ 0. 0. 0. 1. ]] SLAMing on 4.314206098999999 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:0.65, Y:0.13, Z:4.12 [[ 0.88567883 0.45008929 -0.11398528 0.64917127] [-0.44854289 0.89285069 0.04033499 0.13253011] [ 0.11992618 0.01540344 0.99266331 4.12157875] [ 0. 0. 0. 1. ]] SLAMing on 4.344206098999999 meters Centerline goodness : 0.996501 Centerline is valid? [True, True] Translation: X:0.65, Y:0.13, Z:4.15 [[ 0.88643298 0.4483128 -0.1151182 0.65463951] [-0.44724216 0.89367067 0.03643043 0.1319007 ] [ 0.11920998 0.01919258 0.99268355 4.15190632] [ 0. 0. 0. 1. ]] SLAMing on 4.374206098999999 meters Centerline goodness : 0.993786 Centerline is valid? [True, True] Translation: X:0.66, Y:0.14, Z:4.18 [[ 0.87894817 0.46278076 -0.1152566 0.66456784] [-0.46128898 0.88630587 0.04091914 0.13886125] [ 0.12108919 0.0172008 0.99249259 4.18357161] [ 0. 0. 0. 1. ]] SLAMing on 4.404206098999999 meters Centerline goodness : 0.989542 Centerline is valid? [True, True] Translation: X:0.68, Y:0.15, Z:4.21 [[ 0.86143681 0.49466385 -0.11504041 0.67890226] [-0.49209496 0.86900125 0.05176261 0.15461521] [ 0.12557536 0.01202059 0.99201126 4.21222055] [ 0. 0. 0. 1. ]] SLAMing on 4.434206098999999 meters Centerline goodness : 0.985195 Centerline is valid? [True, True] Translation: X:0.70, Y:0.17, Z:4.24 [[ 0.8349582 0.53550668 -0.12679671 0.7023769 ] [-0.53094775 0.84448663 0.0702625 0.17368981] [ 0.14470416 0.00865618 0.9894371 4.24148012] [ 0. 0. 0. 1. ]] SLAMing on 4.464206098999999 meters Centerline goodness : 0.983053 Centerline is valid? [True, True] Translation: X:0.69, Y:0.14, Z:4.27 [[ 0.8653944 0.48311094 -0.13302762 0.69217943] [-0.48039529 0.87539013 0.05396745 0.14426901] [ 0.14252333 0.01720271 0.98964194 4.27487251] [ 0. 0. 0. 1. ]] SLAMing on 4.4942060989999995 meters Centerline goodness : 0.983053 Centerline is valid? [True, True] Translation: X:0.70, Y:0.14, Z:4.31 [[ 0.86452307 0.48469182 -0.13294251 0.69664274] [-0.48196284 0.87451515 0.05417639 0.14361792] [ 0.14251909 0.01723661 0.98964196 4.30810591] [ 0. 0. 0. 1. ]] SLAMing on 4.524206098999999 meters Centerline goodness : 0.982754 Centerline is valid? [True, True] Translation: X:0.69, Y:0.11, Z:4.34 [[ 0.89469936 0.42605491 -0.13412782 0.68877298] [-0.42527775 0.90435268 0.03584772 0.1130822 ] [ 0.13657195 0.02496864 0.99031544 4.33970149] [ 0. 0. 0. 1. ]] SLAMing on 4.554206098999999 meters Centerline goodness : 0.982754 Centerline is valid? [True, True] Translation: X:0.71, Y:0.14, Z:4.37 [[ 0.86491442 0.4848301 -0.12985696 0.70871953] [-0.48223585 0.87444506 0.05286235 0.14129201] [ 0.13918204 0.01690027 0.99012259 4.37160655] [ 0. 0. 0. 1. ]] SLAMing on 4.584206098999999 meters Centerline goodness : 0.984601 Centerline is valid? [True, True] Translation: X:0.72, Y:0.15, Z:4.40 [[ 0.84894979 0.5128431 -0.12757825 0.72129349] [-0.50907661 0.85840671 0.06307878 0.15428012] [ 0.14186354 0.01139639 0.98982062 4.40267145] [ 0. 0. 0. 1. ]] SLAMing on 4.614206098999999 meters Centerline goodness : 0.985443 Centerline is valid? [True, True] Translation: X:0.72, Y:0.15, Z:4.43 [[ 0.85015841 0.51007032 -0.13060991 0.72470145] [-0.50613751 0.86005607 0.06425247 0.15136738] [ 0.14510512 0.0114818 0.98934962 4.43094855] [ 0. 0. 0. 1. ]] SLAMing on 4.644206098999999 meters Centerline goodness : 0.982349 Centerline is valid? [True, True] Translation: X:0.72, Y:0.13, Z:4.47 [[ 0.87424436 0.46628121 -0.13519847 0.71705394] [-0.46344828 0.88449669 0.05367774 0.12755487] [ 0.14461152 0.01573004 0.98936347 4.46502273] [ 0. 0. 0. 1. ]] SLAMing on 4.674206098999999 meters Centerline goodness : 0.973979 Centerline is valid? [True, True] Translation: X:0.72, Y:0.13, Z:4.49 [[ 0.87429251 0.46479182 -0.13993275 0.72157056] [-0.46185104 0.88526234 0.05481057 0.12616953] [ 0.1493527 0.01670762 0.98864282 4.49135667] [ 0. 0. 0. 1. ]] SLAMing on 4.704206098999999 meters Centerline goodness : 0.975084 Centerline is valid? [True, True] Translation: X:0.73, Y:0.13, Z:4.52 [[ 0.86502337 0.48142521 -0.14129521 0.73262452] [-0.47775599 0.87636479 0.06110617 0.13340568] [ 0.1532442 0.01464636 0.9880798 4.52255117] [ 0. 0. 0. 1. ]] SLAMing on 4.734206098999999 meters Centerline goodness : 0.980799 Centerline is valid? [True, True] Translation: X:0.73, Y:0.12, Z:4.56 [[ 0.87951861 0.45352065 -0.14410424 0.72955755] [-0.45041771 0.89109857 0.05538242 0.11711538] [ 0.15352815 0.01619723 0.98801152 4.55666416] [ 0. 0. 0. 1. ]] SLAMing on 4.764206098999999 meters Centerline goodness : 0.984242 Centerline is valid? [True, True] Translation: X:0.73, Y:0.11, Z:4.59 [[ 0.88853099 0.43435517 -0.14781158 0.72810805] [-0.43193633 0.90052841 0.04979552 0.106813 ] [ 0.15473746 0.01960033 0.98776118 4.58645252] [ 0. 0. 0. 1. ]] SLAMing on 4.794206098999999 meters Centerline goodness : 0.988803 Centerline is valid? [True, True] Translation: X:0.74, Y:0.12, Z:4.62 [[ 0.87269551 0.46406157 -0.15182032 0.74325071] [-0.46023702 0.88565636 0.06160116 0.11895362] [ 0.16304737 0.01611427 0.98648664 4.61689841] [ 0. 0. 0. 1. ]] SLAMing on 4.824206098999999 meters Centerline goodness : 0.989130 Centerline is valid? [True, True] Translation: X:0.75, Y:0.12, Z:4.65 [[ 0.86831343 0.47293959 -0.14953237 0.75021742] [-0.46889544 0.88096765 0.06350641 0.12247383] [ 0.16176788 0.01497158 0.98671526 4.65158014] [ 0. 0. 0. 1. ]] SLAMing on 4.854206098999999 meters Centerline goodness : 0.993585 Centerline is valid? [True, True] Translation: X:0.75, Y:0.11, Z:4.68 [[ 0.8771185 0.45553677 -0.15214923 0.75031223] [-0.45231307 0.89002195 0.05721721 0.11160815] [ 0.1614807 0.01863281 0.98669996 4.67678996] [ 0. 0. 0. 1. ]] SLAMing on 4.884206098999999 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:0.76, Y:0.13, Z:4.71 [[ 0.85971032 0.48771571 -0.15176151 0.76436339] [-0.48303899 0.87288829 0.06884311 0.12679316] [ 0.16604671 0.0141216 0.98601677 4.70958048] [ 0. 0. 0. 1. ]] SLAMing on 4.914206098999999 meters Centerline goodness : 0.994138 Centerline is valid? [True, True] Translation: X:0.77, Y:0.13, Z:4.74 [[ 0.85563565 0.49438322 -0.15320857 0.77064936] [-0.4894831 0.86912592 0.0708973 0.12905496] [ 0.16820797 0.01433075 0.98564735 4.74034445] [ 0. 0. 0. 1. ]] SLAMing on 4.944206098999999 meters SLAMing on 4.974206098999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:0.80, Y:0.16, Z:4.77 [[ 0.81412328 0.56059359 -0.15145332 0.79825785] [-0.55223631 0.82807586 0.09656824 0.1600947 ] [ 0.17955038 0.00501957 0.98373597 4.77316291] [ 0. 0. 0. 1. ]] SLAMing on 5.004206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.81, Y:0.17, Z:4.80 [[ 7.98892291e-01 5.84751604e-01 -1.40842712e-01 8.08399486e-01] [-5.75269440e-01 8.11207591e-01 1.04915752e-01 1.70132069e-01] [ 1.75602331e-01 -2.79387720e-03 9.84457219e-01 4.80429063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.034206098999999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.27, Z:4.83 [[ 0.94487336 -0.294809 -0.14248503 0.73032354] [ 0.27332536 0.94974793 -0.15255201 -0.26831108] [ 0.18029856 0.10519756 0.9779703 4.83138927] [ 0. 0. 0. 1. ]] SLAMing on 5.064206098999999 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:0.78, Y:0.14, Z:4.88 [[ 0.84888217 0.51214494 -0.13079229 0.78273416] [-0.50883983 0.85875894 0.0601258 0.14071956] [ 0.14311217 0.01551261 0.9895849 4.88252637] [ 0. 0. 0. 1. ]] SLAMing on 5.094206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.79, Y:0.13, Z:4.91 [[ 0.85317955 0.5034344 -0.13652274 0.78659659] [-0.50007263 0.8638719 0.06043751 0.133713 ] [ 0.14836448 0.01670724 0.98879161 4.91394439] [ 0. 0. 0. 1. ]] SLAMing on 5.124206098999999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:0.80, Y:0.15, Z:4.95 [[ 0.83626463 0.53199783 -0.13281483 0.8006256 ] [-0.52797993 0.84662562 0.06680016 0.14636762] [ 0.14798198 0.01426096 0.98888723 4.9458771 ] [ 0. 0. 0. 1. ]] SLAMing on 5.154206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.82, Y:0.17, Z:4.98 [[ 0.80752461 0.57691115 -0.1227906 0.81577089] [-0.5719605 0.81675834 0.07594078 0.17030655] [ 0.14410133 0.00890732 0.98952285 4.9800915 ] [ 0. 0. 0. 1. ]] SLAMing on 5.184206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.82, Y:0.17, Z:5.01 [[ 0.8097255 0.57415194 -0.12121948 0.81760995] [-0.56930274 0.81870631 0.07492911 0.16729212] [ 0.14226385 0.00833857 0.98979365 5.01280554] [ 0. 0. 0. 1. ]] SLAMing on 5.214206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.81, Y:0.16, Z:5.05 [[ 0.82279147 0.55528791 -0.12111781 0.81470007] [-0.55093841 0.83160774 0.06996743 0.15805134] [ 0.13957457 0.00915985 0.9901692 5.04611779] [ 0. 0. 0. 1. ]] SLAMing on 5.244206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.82, Y:0.15, Z:5.08 [[ 0.83092521 0.54227887 -0.12448665 0.81638197] [-0.53814741 0.84012965 0.0676723 0.14896548] [ 0.14128218 0.01076155 0.98991087 5.0768246 ] [ 0. 0. 0. 1. ]] SLAMing on 5.274206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.84, Y:0.16, Z:5.11 [[ 0.80639866 0.57566168 -0.13540617 0.83840844] [-0.5690092 0.81766227 0.08750399 0.15872197] [ 0.16108921 0.00648426 0.98691855 5.10863308] [ 0. 0. 0. 1. ]] SLAMing on 5.304206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.81, Y:0.12, Z:5.14 [[ 0.85407871 0.50216423 -0.13557525 0.81437533] [-0.49903409 0.86459417 0.05866759 0.12152099] [ 0.14667833 0.01754993 0.98902855 5.13901975] [ 0. 0. 0. 1. ]] SLAMing on 5.334206098999999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:0.85, Y:0.16, Z:5.17 [[ 0.80128237 0.58533815 -0.12379744 0.84565095] [-0.57945091 0.81077229 0.08297547 0.16220669] [ 0.14894024 0.00524775 0.98883227 5.16598271] [ 0. 0. 0. 1. ]] SLAMing on 5.364206098999999 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:0.84, Y:0.14, Z:5.20 [[ 0.82330615 0.55144276 -0.13445399 0.83851627] [-0.54624426 0.8341449 0.07628559 0.14279235] [ 0.15422125 0.01063832 0.98797907 5.19910154] [ 0. 0. 0. 1. ]] SLAMing on 5.394206098999999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:0.86, Y:0.16, Z:5.23 [[ 0.79317278 0.59546345 -0.12767235 0.85772626] [-0.58905321 0.80336051 0.08733956 0.16381084] [ 0.15457444 0.00593044 0.98796335 5.2300698 ] [ 0. 0. 0. 1. ]] SLAMing on 5.424206098999999 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] Translation: X:0.86, Y:0.15, Z:5.26 [[ 0.80198571 0.58351376 -0.12779124 0.85580525] [-0.57750677 0.81207631 0.08377353 0.15393347] [ 0.15265925 0.00661513 0.98825675 5.26334366] [ 0. 0. 0. 1. ]] SLAMing on 5.4542060989999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.86, Y:0.15, Z:5.29 [[ 0.80725361 0.57496958 -0.13323511 0.85781653] [-0.56894425 0.81813126 0.08344861 0.14705824] [ 0.15698422 0.00843916 0.98756505 5.29385535] [ 0. 0. 0. 1. ]] SLAMing on 5.484206098999999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:0.86, Y:0.14, Z:5.32 [[ 0.81123989 0.56943136 -0.13280722 0.85862254] [-0.56396358 0.82197216 0.07941568 0.14321044] [ 0.15438562 0.01047327 0.98795516 5.3241806 ] [ 0. 0. 0. 1. ]] SLAMing on 5.514206098999999 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:0.88, Y:0.17, Z:5.36 [[ 7.71160157e-01 6.24445499e-01 -1.24015447e-01 8.79785980e-01] [-6.17491623e-01 7.81053528e-01 9.30563397e-02 1.70714634e-01] [ 1.54971315e-01 4.81715801e-03 9.87907226e-01 5.35521448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.544206098999999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:0.86, Y:0.13, Z:5.39 [[ 0.82769364 0.54331925 -0.14045436 0.85657538] [-0.53854516 0.83939406 0.07339434 0.12614932] [ 0.15777311 0.01489299 0.98736308 5.38560286] [ 0. 0. 0. 1. ]] SLAMing on 5.574206098999999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:0.89, Y:0.17, Z:5.42 [[ 7.68113533e-01 6.27735712e-01 -1.26291237e-01 8.88223098e-01] [-6.20389637e-01 7.78412284e-01 9.58697779e-02 1.68855730e-01] [ 1.58487533e-01 4.71090061e-03 9.87349740e-01 5.41716975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.604206098999999 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:0.86, Y:0.12, Z:5.45 [[ 0.82454005 0.54838803 -0.1392992 0.86437735] [-0.54333213 0.83611608 0.07549898 0.12470163] [ 0.15787304 0.0134338 0.98736803 5.44740129] [ 0. 0. 0. 1. ]] SLAMing on 5.634206098999999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:0.88, Y:0.15, Z:5.48 [[ 0.79549393 0.59207691 -0.12897418 0.88186232] [-0.58610246 0.80583654 0.084329 0.14595406] [ 0.15386136 0.00850888 0.98805581 5.48182912] [ 0. 0. 0. 1. ]] SLAMing on 5.6642060989999985 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:0.87, Y:0.12, Z:5.51 [[ 0.82553623 0.54673902 -0.1398799 0.87095977] [-0.54166381 0.83719553 0.07552452 0.11965064] [ 0.15839903 0.01341965 0.98728398 5.51176635] [ 0. 0. 0. 1. ]] SLAMing on 5.694206098999999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:0.89, Y:0.14, Z:5.54 [[ 0.78849413 0.60059825 -0.13250944 0.89378049] [-0.59357772 0.79952624 0.09177844 0.14422875] [ 0.16106674 0.00628789 0.98692349 5.54458569] [ 0. 0. 0. 1. ]] SLAMing on 5.724206098999999 meters Centerline goodness : 0.999840 Centerline is valid? [True, True] Translation: X:0.88, Y:0.12, Z:5.58 [[ 0.81916314 0.55647577 -0.13894774 0.87859726] [-0.55128529 0.83075404 0.07702113 0.12216183] [ 0.15829178 0.01350698 0.98729999 5.57712631] [ 0. 0. 0. 1. ]] SLAMing on 5.754206098999999 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:0.89, Y:0.12, Z:5.61 [[ 0.81662452 0.55912457 -0.14319254 0.8860516 ] [-0.55304018 0.82900562 0.08304366 0.11932091] [ 0.16513917 0.01137574 0.98620467 5.60854646] [ 0. 0. 0. 1. ]] SLAMing on 5.784206098999999 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:0.89, Y:0.12, Z:5.64 [[ 0.81966644 0.55443625 -0.14403952 0.88726828] [-0.54866602 0.83212778 0.08080198 0.11644779] [ 0.16465883 0.01279892 0.98626754 5.64032972] [ 0. 0. 0. 1. ]] SLAMing on 5.814206098999999 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:0.90, Y:0.13, Z:5.67 [[ 0.80242654 0.57959042 -0.14207955 0.89986861] [-0.57293286 0.81483899 0.0882347 0.1271875 ] [ 0.16691194 0.01060017 0.98591482 5.67102792] [ 0. 0. 0. 1. ]] SLAMing on 5.844206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.90, Y:0.13, Z:5.70 [[ 0.80005115 0.5824168 -0.1439056 0.90443969] [-0.57559751 0.81281349 0.08956416 0.12679776] [ 0.16913209 0.01117579 0.98553003 5.7034287 ] [ 0. 0. 0. 1. ]] SLAMing on 5.8742060989999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.92, Y:0.14, Z:5.73 [[ 0.79005627 0.59892489 -0.1307672 0.91639786] [-0.592752 0.80075062 0.08627581 0.13537566] [ 0.15638465 0.00934977 0.98765197 5.73296256] [ 0. 0. 0. 1. ]] SLAMing on 5.904206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.93, Y:0.15, Z:5.77 [[ 0.7592795 0.63749281 -0.13075764 0.93374251] [-0.63102199 0.77034638 0.09152974 0.15221869] [ 0.15907823 0.01301429 0.9871802 5.76671419] [ 0. 0. 0. 1. ]] SLAMing on 5.934206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.94, Y:0.16, Z:5.80 [[ 0.74994413 0.64881552 -0.12892724 0.93863703] [-0.64212804 0.76084338 0.09374932 0.15658728] [ 0.15891945 0.01248104 0.98721266 5.79939848] [ 0. 0. 0. 1. ]] SLAMing on 5.964206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.94, Y:0.16, Z:5.83 [[ 0.74782167 0.65129935 -0.12873189 0.94285163] [-0.64458306 0.7587166 0.0941371 0.15641529] [ 0.15898245 0.01258064 0.98720125 5.83205333] [ 0. 0. 0. 1. ]] SLAMing on 5.994206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.95, Y:0.16, Z:5.86 [[ 0.74509614 0.65463467 -0.12761345 0.94773645] [-0.64797287 0.75583964 0.09400851 0.15683803] [ 0.15799653 0.01264467 0.9873587 5.86470474] [ 0. 0. 0. 1. ]] SLAMing on 6.024206098999999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:0.95, Y:0.16, Z:5.90 [[ 0.74475799 0.65537746 -0.1257614 0.94985761] [-0.6488288 0.75520339 0.09321499 0.15678434] [ 0.15606644 0.01217501 0.98767152 5.8981409 ] [ 0. 0. 0. 1. ]] SLAMing on 6.054206098999999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:0.95, Y:0.15, Z:5.93 [[ 0.7554439 0.64336152 -0.1240583 0.94826785] [-0.63745895 0.76545716 0.0878716 0.14809608] [ 0.15149452 0.01270001 0.98837651 5.92871699] [ 0. 0. 0. 1. ]] SLAMing on 6.084206098999998 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:0.96, Y:0.15, Z:5.96 [[ 0.7470437 0.65334268 -0.12275609 0.95557118] [-0.64736699 0.75695231 0.08910203 0.15000294] [ 0.15113466 0.01290513 0.98842894 5.96075861] [ 0. 0. 0. 1. ]] SLAMing on 6.114206098999999 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:0.96, Y:0.15, Z:5.99 [[ 0.74589487 0.65455365 -0.12328973 0.95901327] [-0.64852066 0.755902 0.08962768 0.14868163] [ 0.15186108 0.01310312 0.98831499 5.99372122] [ 0. 0. 0. 1. ]] SLAMing on 6.144206098999999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:0.96, Y:0.14, Z:6.02 [[ 0.75418986 0.6445137 -0.12569707 0.95697666] [-0.63857352 0.76447132 0.08835982 0.14273681] [ 0.15304092 0.01362674 0.9881259 6.02492652] [ 0. 0. 0. 1. ]] SLAMing on 6.174206098999999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:0.96, Y:0.14, Z:6.06 [[ 0.74722795 0.65251856 -0.12597584 0.96336678] [-0.64618353 0.75766224 0.09162295 0.14427834] [ 0.15523281 0.01294029 0.98779316 6.05688886] [ 0. 0. 0. 1. ]] SLAMing on 6.2042060989999985 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:0.98, Y:0.16, Z:6.09 [[ 0.7159064 0.68664249 -0.12649161 0.98192497] [-0.67896628 0.72689493 0.10309488 0.1604214 ] [ 0.16273543 0.01207725 0.98659582 6.08959295] [ 0. 0. 0. 1. ]] SLAMing on 6.234206098999999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:0.97, Y:0.14, Z:6.12 [[ 0.7493415 0.64792097 -0.13669575 0.96937123] [-0.64105104 0.76153759 0.09546763 0.13619778] [ 0.16595443 0.01609109 0.98600213 6.12020214] [ 0. 0. 0. 1. ]] SLAMing on 6.264206098999999 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:0.99, Y:0.16, Z:6.15 [[ 0.71141472 0.69092751 -0.12848453 0.98915023] [-0.68306965 0.72280271 0.10474782 0.15931989] [ 0.16524212 0.01324474 0.98616409 6.15234294] [ 0. 0. 0. 1. ]] SLAMing on 6.294206098999998 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:0.98, Y:0.15, Z:6.18 [[ 0.72990334 0.6708169 -0.1313233 0.98272442] [-0.66378682 0.74145969 0.09810502 0.1465521 ] [ 0.16318143 0.0155635 0.98647331 6.18413228] [ 0. 0. 0. 1. ]] SLAMing on 6.324206098999999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:0.98, Y:0.14, Z:6.21 [[ 0.73881397 0.6599984 -0.13622051 0.98169296] [-0.65294797 0.75107941 0.09766611 0.13793162] [ 0.16677189 0.01678782 0.98585258 6.21473012] [ 0. 0. 0. 1. ]] SLAMing on 6.354206098999999 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:0.99, Y:0.15, Z:6.25 [[ 0.72149286 0.67938384 -0.13373724 0.99305899] [-0.67183235 0.73360744 0.10228107 0.1459525 ] [ 0.16759874 0.01605394 0.98572457 6.2477355 ] [ 0. 0. 0. 1. ]] SLAMing on 6.384206098999999 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:1.00, Y:0.15, Z:6.28 [[ 0.71216365 0.68927256 -0.13314004 1.00067194] [-0.68136322 0.72433144 0.10530017 0.14912792] [ 0.16901804 0.01572577 0.98548749 6.27937841] [ 0. 0. 0. 1. ]] SLAMing on 6.4142060989999985 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:1.01, Y:0.15, Z:6.31 [[ 0.70556677 0.69605399 -0.13298259 1.00636137] [-0.68782559 0.71782432 0.10781564 0.15016192] [ 0.17050364 0.01539769 0.98523673 6.31011069] [ 0. 0. 0. 1. ]] SLAMing on 6.444206098999999 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:1.02, Y:0.16, Z:6.34 [[ 0.69218985 0.70976183 -0.13081039 1.01580969] [-0.7012466 0.70427908 0.11065346 0.15515614] [ 0.17066462 0.01513714 0.9852129 6.34086908] [ 0. 0. 0. 1. ]] SLAMing on 6.474206098999999 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:1.01, Y:0.14, Z:6.37 [[ 0.7085767 0.69223559 -0.13685372 1.01081734] [-0.68387445 0.72147898 0.10855331 0.14290117] [ 0.17388155 0.01667242 0.98462543 6.37323569] [ 0. 0. 0. 1. ]] SLAMing on 6.504206098999998 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:1.02, Y:0.15, Z:6.40 [[ 0.69375663 0.70776619 -0.13329953 1.0204683 ] [-0.69926055 0.70625493 0.11062849 0.14916623] [ 0.17244255 0.01646185 0.98488201 6.40485283] [ 0. 0. 0. 1. ]] SLAMing on 6.534206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.04, Y:0.16, Z:6.44 [[ 0.66629257 0.73417718 -0.13053001 1.03512692] [-0.7249558 0.67875601 0.11717239 0.16074551] [ 0.17462332 0.0165574 0.98449609 6.43716298] [ 0. 0. 0. 1. ]] SLAMing on 6.564206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.03, Y:0.15, Z:6.47 [[ 0.67877379 0.72220833 -0.13297092 1.0301095 ] [-0.7134842 0.69144296 0.1133443 0.1538217 ] [ 0.17380001 0.01793751 0.98461759 6.4698596 ] [ 0. 0. 0. 1. ]] SLAMing on 6.594206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.02, Y:0.13, Z:6.50 [[ 0.70570689 0.69489074 -0.13821957 1.02066115] [-0.6872447 0.71881003 0.10491358 0.13493781] [ 0.17225709 0.02095243 0.98482917 6.50173092] [ 0. 0. 0. 1. ]] SLAMing on 6.6242060989999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.03, Y:0.16, Z:6.54 [[ 0.67292794 0.72718962 -0.13551102 1.03271669] [-0.71689547 0.68628303 0.12278637 0.16324614] [ 0.18228789 0.01452086 0.98313797 6.53522612] [ 0. 0. 0. 1. ]] SLAMing on 6.654206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.04, Y:0.16, Z:6.57 [[ 0.67813434 0.72190858 -0.13777452 1.03508899] [-0.71174651 0.69181407 0.12169714 0.16072285] [ 0.18316856 0.01553353 0.98295879 6.56778422] [ 0. 0. 0. 1. ]] SLAMing on 6.684206098999999 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:1.02, Y:0.14, Z:6.60 [[ 0.70811554 0.69125507 -0.14400977 1.02467089] [-0.6819152 0.72240848 0.11453229 0.14266594] [ 0.18320491 0.01710036 0.98292601 6.59702772] [ 0. 0. 0. 1. ]] SLAMing on 6.714206098999998 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:1.05, Y:0.17, Z:6.63 [[ 0.65946442 0.7388647 -0.13851222 1.0520465 ] [-0.72753522 0.67368272 0.12978485 0.16625868] [ 0.18920674 0.01518403 0.98181987 6.63096182] [ 0. 0. 0. 1. ]] SLAMing on 6.744206098999999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:1.04, Y:0.15, Z:6.66 [[ 0.68651127 0.71367214 -0.13919181 1.03605284] [-0.7036842 0.70030685 0.11999526 0.15446407] [ 0.18311425 0.01556898 0.98296835 6.66306439] [ 0. 0. 0. 1. ]] SLAMing on 6.774206098999999 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:1.04, Y:0.15, Z:6.69 [[ 0.68664395 0.7135675 -0.13907375 1.03833735] [-0.7035909 0.7004147 0.11991285 0.15235638] [ 0.18297521 0.01551359 0.98299512 6.69280722] [ 0. 0. 0. 1. ]] SLAMing on 6.804206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.05, Y:0.16, Z:6.72 [[ 0.66973353 0.72966752 -0.13799386 1.04984885] [-0.71874038 0.68365094 0.12662411 0.15831492] [ 0.18673314 0.01437735 0.98230547 6.72353068] [ 0. 0. 0. 1. ]] SLAMing on 6.834206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.05, Y:0.16, Z:6.75 [[ 0.66898312 0.73007744 -0.13945798 1.05392149] [-0.71873081 0.68322197 0.12897197 0.15693765] [ 0.18944028 0.01395268 0.98179311 6.75470517] [ 0. 0. 0. 1. ]] SLAMing on 6.864206098999999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:1.06, Y:0.16, Z:6.78 [[ 0.65877523 0.73932295 -0.13934409 1.06285098] [-0.72765842 0.67319099 0.1316325 0.1604471 ] [ 0.19112411 0.01467867 0.98145612 6.7840842 ] [ 0. 0. 0. 1. ]] SLAMing on 6.894206098999999 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:1.07, Y:0.16, Z:6.81 [[ 0.64991512 0.74713329 -0.1392917 1.07001534] [-0.73468049 0.66453493 0.13652073 0.16214484] [ 0.19456338 0.013608 0.98079555 6.81418613] [ 0. 0. 0. 1. ]] SLAMing on 6.924206098999998 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:1.07, Y:0.16, Z:6.85 [[ 0.65347726 0.74400962 -0.13934542 1.06977133] [-0.73164532 0.66803735 0.1357248 0.15954543] [ 0.19406851 0.01325836 0.98089838 6.84690305] [ 0. 0. 0. 1. ]] SLAMing on 6.9542060989999985 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:1.10, Y:0.18, Z:6.88 [[ 0.59871369 0.79084941 -0.1268823 1.10144981] [-0.77651821 0.61194972 0.15012333 0.1797992 ] [ 0.19637054 0.00864552 0.98049165 6.8797363 ] [ 0. 0. 0. 1. ]] SLAMing on 6.984206098999999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:1.09, Y:0.17, Z:6.92 [[ 0.62776197 0.76695348 -0.13303103 1.08588611] [-0.75366841 0.64161215 0.14254043 0.16749175] [ 0.19467621 0.01077983 0.98080832 6.91591761] [ 0. 0. 0. 1. ]] SLAMing on 7.014206098999999 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:1.14, Y:0.20, Z:6.95 [[ 5.34044148e-01 8.37931888e-01 -1.12547762e-01 1.13982958e+00] [-8.21445776e-01 5.45759457e-01 1.65449246e-01 1.99494239e-01] [ 2.00059205e-01 4.09468146e-03 9.79775254e-01 6.94763447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.044206098999998 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:1.16, Y:0.20, Z:6.98 [[ 5.07290333e-01 8.55115363e-01 -1.06930980e-01 1.15642045e+00] [-8.37269081e-01 5.18435967e-01 1.73794803e-01 2.03943844e-01] [ 2.04051472e-01 1.36558001e-03 9.78959209e-01 6.97722838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.074206098999999 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:1.15, Y:0.20, Z:7.01 [[ 5.14392280e-01 8.50565249e-01 -1.09267287e-01 1.15341557e+00] [-8.32122506e-01 5.25869436e-01 1.76163198e-01 1.98142113e-01] [ 2.07298621e-01 3.06779941e-04 9.78277664e-01 7.00832764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.104206098999999 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:1.16, Y:0.20, Z:7.04 [[ 4.95395017e-01 8.62363359e-01 -1.04466335e-01 1.16429095e+00] [-8.42917864e-01 5.06285264e-01 1.82111795e-01 2.01997427e-01] [ 2.09936305e-01 -2.16073557e-03 9.77712677e-01 7.03594014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.134206098999998 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:1.13, Y:0.18, Z:7.07 [[ 5.68568337e-01 8.13178987e-01 -1.24378380e-01 1.12754400e+00] [-7.95861405e-01 5.81999595e-01 1.66976331e-01 1.77598610e-01] [ 2.08169811e-01 4.05049709e-03 9.78084313e-01 7.07173655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1642060989999985 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:1.15, Y:0.19, Z:7.10 [[ 5.26149460e-01 8.42659843e-01 -1.14416496e-01 1.15149110e+00] [-8.23246899e-01 5.38446104e-01 1.79834191e-01 1.87278159e-01] [ 2.13146167e-01 -4.26636922e-04 9.77020230e-01 7.10252904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.194206098999999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:1.16, Y:0.19, Z:7.13 [[ 5.12965811e-01 8.51214327e-01 -1.10906479e-01 1.16043935e+00] [-8.31116566e-01 5.24813808e-01 1.83890515e-01 1.89846817e-01] [ 2.14735492e-01 -2.15333536e-03 9.76669868e-01 7.13458990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.224206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.16, Y:0.19, Z:7.17 [[ 5.19655424e-01 8.47048626e-01 -1.11655116e-01 1.15915639e+00] [-8.26755177e-01 5.31504017e-01 1.84334906e-01 1.86476789e-01] [ 2.15485772e-01 -3.47918884e-03 9.76500782e-01 7.16599350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.254206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.15, Y:0.18, Z:7.20 [[ 5.31847908e-01 8.39281826e-01 -1.12888529e-01 1.15294914e+00] [-8.19742154e-01 5.43687008e-01 1.80075648e-01 1.80779184e-01] [ 2.12510246e-01 -3.23337069e-03 9.77153489e-01 7.19817020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.284206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.17, Y:0.19, Z:7.23 [[ 5.00632990e-01 8.59190202e-01 -1.05635253e-01 1.17138457e+00] [-8.37786392e-01 5.11608767e-01 1.90710333e-01 1.87216758e-01] [ 2.17900371e-01 -6.97610680e-03 9.75946086e-01 7.22729839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.314206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.15, Y:0.16, Z:7.26 [[ 0.54907876 0.82759534 -0.11661246 1.14766248] [-0.80544378 0.56122372 0.19049477 0.16434181] [ 0.22309826 -0.01067185 0.97473754 7.2623771 ] [ 0. 0. 0. 1. ]] SLAMing on 7.344206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.24, Y:0.21, Z:7.29 [[ 0.3807466 0.92189513 -0.07170358 1.23736587] [-0.89644021 0.38702488 0.21588582 0.21024582] [ 0.22677516 -0.01791982 0.97378227 7.29115451] [ 0. 0. 0. 1. ]] SLAMing on 7.3742060989999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.25, Y:0.21, Z:7.32 [[ 0.36291661 0.92948909 -0.0658905 1.24823401] [-0.9035188 0.36830805 0.21909578 0.21193793] [ 0.22791514 -0.01998019 0.97347598 7.32160657] [ 0. 0. 0. 1. ]] SLAMing on 7.404206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.28, Y:0.22, Z:7.35 [[ 0.29640412 0.95371661 -0.05068747 1.28421135] [-0.92672356 0.30003635 0.22618937 0.22391103] [ 0.23092864 -0.02007019 0.97276367 7.35002322] [ 0. 0. 0. 1. ]] SLAMing on 7.434206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.18, Y:0.18, Z:7.38 [[ 0.48890936 0.86651279 -0.10061423 1.18211453] [-0.8422342 0.49892598 0.20424109 0.17838927] [ 0.22717657 -0.01511463 0.97373629 7.37803988] [ 0. 0. 0. 1. ]] SLAMing on 7.464206098999998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:1.13, Y:0.14, Z:7.41 [[ 0.58942902 0.79770781 -0.12741934 1.12898422] [-0.77522075 0.60291843 0.18847321 0.14255876] [ 0.22717002 -0.01231346 0.97377726 7.40922373] [ 0. 0. 0. 1. ]] SLAMing on 7.494206098999999 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:1.10, Y:0.11, Z:7.44 [[ 0.64902955 0.74658031 -0.14621383 1.09972839] [-0.72479181 0.66521352 0.17935384 0.11474885] [ 0.23116547 -0.01043135 0.97285853 7.44154979] [ 0. 0. 0. 1. ]] SLAMing on 7.524206098999999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:1.05, Y:0.06, Z:7.47 [[ 7.51846058e-01 6.36332808e-01 -1.72650117e-01 1.04545626e+00] [-6.18592093e-01 7.71395345e-01 1.49308555e-01 5.83882084e-02] [ 2.28191428e-01 -5.45705085e-03 9.73600993e-01 7.47285794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.554206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.05, Y:0.05, Z:7.50 [[ 7.58395722e-01 6.27211777e-01 -1.77316994e-01 1.04515958e+00] [-6.09058763e-01 7.78827911e-01 1.49915005e-01 5.17229858e-02] [ 2.32127881e-01 -5.69842992e-03 9.72668584e-01 7.50392989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.584206098999998 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:1.02, Y:0.02, Z:7.53 [[ 8.01339175e-01 5.67729074e-01 -1.88518501e-01 1.02223965e+00] [-5.51304257e-01 8.23201609e-01 1.35656652e-01 2.14169830e-02] [ 2.32204959e-01 -4.77593714e-03 9.72655153e-01 7.53425203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.614206098999999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:1.02, Y:0.01, Z:7.57 [[ 8.10448861e-01 5.53778257e-01 -1.91055713e-01 1.01981701e+00] [-5.37403596e-01 8.32644265e-01 1.33794255e-01 1.38966879e-02] [ 2.33173793e-01 -5.75937439e-03 9.72418023e-01 7.56718400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.644206098999999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.04, Z:7.60 [[ 8.72778006e-01 4.40197775e-01 -2.10913420e-01 9.88692489e-01] [-4.27245763e-01 8.97897571e-01 1.06023632e-01 -4.43265169e-02] [ 2.36050015e-01 -2.42322926e-03 9.71737886e-01 7.59788140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.674206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.04, Z:7.63 [[ 8.74474976e-01 4.36654890e-01 -2.11248723e-01 9.87147659e-01] [-4.23841478e-01 8.99626129e-01 1.05029664e-01 -4.49554091e-02] [ 2.35906587e-01 -2.30984264e-03 9.71772991e-01 7.62969123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7042060989999985 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.03, Z:7.66 [[ 8.60396821e-01 4.62152466e-01 -2.14784562e-01 9.98373153e-01] [-4.47151276e-01 8.86788951e-01 1.16880675e-01 -3.31988763e-02] [ 2.44485269e-01 -4.52256972e-03 9.69642460e-01 7.66056584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.734206098999999 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.14, Z:7.69 [[ 9.41534630e-01 2.50128212e-01 -2.25717563e-01 9.54216621e-01] [-2.42892010e-01 9.68211670e-01 5.97464126e-02 -1.41331603e-01] [ 2.33486642e-01 -1.42832391e-03 9.72358961e-01 7.69146144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.764206098999998 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.23, Z:7.72 [[ 9.68008179e-01 6.56616999e-02 -2.42174949e-01 9.42092352e-01] [-6.49284950e-02 9.97829111e-01 1.10161743e-02 -2.34796004e-01] [ 2.42372555e-01 5.06030810e-03 9.70170056e-01 7.72207182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.794206098999998 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.32, Z:7.76 [[ 0.96595142 -0.09919434 -0.23895259 0.93906151] [ 0.09337306 0.99499493 -0.03558874 -0.31739184] [ 0.24128682 0.01206526 0.97037884 7.75538128] [ 0. 0. 0. 1. ]] SLAMing on 7.824206098999999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.12, Z:7.79 [[ 9.27924305e-01 2.92243086e-01 -2.31409727e-01 9.61773251e-01] [-2.84911239e-01 9.56329025e-01 6.52715980e-02 -1.17510575e-01] [ 2.40379012e-01 5.36412979e-03 9.70664286e-01 7.78857384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.854206098999999 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.10, Z:7.82 [[ 9.18297308e-01 3.22426283e-01 -2.29720148e-01 9.70163527e-01] [-3.14178259e-01 9.46578922e-01 7.26661281e-02 -1.02594690e-01] [ 2.40877720e-01 5.44396640e-03 9.70540204e-01 7.81923107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.884206098999998 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.19, Z:7.85 [[ 0.9582296 0.15886436 -0.23781955 0.94751713] [-0.15672098 0.9872454 0.02801883 -0.18507988] [ 0.23923745 0.01042285 0.97090515 7.85228621] [ 0. 0. 0. 1. ]] SLAMing on 7.9142060989999985 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.06, Z:7.88 [[ 8.81082195e-01 4.15421213e-01 -2.26095956e-01 9.94076372e-01] [-4.02848425e-01 9.09627571e-01 1.01443716e-01 -5.87779701e-02] [ 2.47804987e-01 1.70214786e-03 9.68808439e-01 7.88213076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.944206098999999 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.38, Z:7.92 [[ 0.94502569 -0.23146408 -0.23097797 0.95287469] [ 0.2199737 0.97264251 -0.07468683 -0.38393999] [ 0.24194631 0.01977189 0.97008817 7.91505298] [ 0. 0. 0. 1. ]] SLAMing on 7.974206098999998 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.04, Z:7.95 [[ 0.87057926 0.44103164 -0.2181349 0.99696614] [-0.43053587 0.89743383 0.09618414 -0.04099795] [ 0.23818189 0.01017898 0.97116722 7.95005602] [ 0. 0. 0. 1. ]] SLAMing on 8.004206099 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.04, Z:7.98 [[ 0.86871241 0.4470426 -0.21328774 0.99856742] [-0.43636672 0.89447329 0.09747624 -0.03746612] [ 0.23435622 0.00839285 0.97211456 7.98212122] [ 0. 0. 0. 1. ]] SLAMing on 8.034206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.02, Z:8.01 [[ 8.42018914e-01 4.97294897e-01 -2.09050074e-01 1.01664186e+00] [-4.83644984e-01 8.67574001e-01 1.15770819e-01 -1.60900165e-02] [ 2.38938647e-01 3.62479999e-03 9.71027901e-01 8.01189566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.064206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.20, Z:8.04 [[ 0.96212031 0.13733006 -0.23551002 0.94902952] [-0.13747551 0.99037781 0.01588324 -0.19713906] [ 0.23542514 0.01709527 0.97174212 8.04476725] [ 0. 0. 0. 1. ]] SLAMing on 8.094206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.00, Z:8.08 [[ 8.27597944e-01 5.23282218e-01 -2.03119085e-01 1.02256923e+00] [-5.10392646e-01 8.52122659e-01 1.15699270e-01 -4.04037506e-05] [ 2.33625746e-01 7.91800919e-03 9.72294357e-01 8.07858411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.124206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.03, Y:0.01, Z:8.11 [[ 8.19792624e-01 5.36095717e-01 -2.01349041e-01 1.02739879e+00] [-5.22838572e-01 8.44120012e-01 1.18748609e-01 6.29015180e-03] [ 2.33623376e-01 7.92381114e-03 9.72294879e-01 8.11208481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.154206099 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:1.03, Y:0.01, Z:8.14 [[ 0.8112807 0.54971415 -0.19909289 1.03263778] [-0.5362492 0.83531036 0.1212163 0.01384864] [ 0.23293867 0.00842296 0.97245495 8.14397697] [ 0. 0. 0. 1. ]] SLAMing on 8.184206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.04, Y:0.03, Z:8.18 [[ 7.95263037e-01 5.74069955e-01 -1.94936884e-01 1.04223962e+00] [-5.59786062e-01 8.18769779e-01 1.27497506e-01 2.78319811e-02] [ 2.32800918e-01 7.72889667e-03 9.72493700e-01 8.17702891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.214206099 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:1.05, Y:0.04, Z:8.21 [[ 7.79404229e-01 5.96641102e-01 -1.91176470e-01 1.05137684e+00] [-5.81512473e-01 8.02477882e-01 1.33688039e-01 3.91411840e-02] [ 2.33178668e-01 6.97447887e-03 9.72408898e-01 8.20974743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.244206099 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:1.06, Y:0.05, Z:8.24 [[ 7.61924338e-01 6.18357334e-01 -1.92627907e-01 1.06395032e+00] [-6.01202483e-01 7.85877674e-01 1.44747559e-01 4.60837981e-02] [ 2.40887686e-01 5.52168739e-03 9.70537291e-01 8.23844430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.274206098999999 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.05, Z:8.27 [[ 0.88410876 0.41218729 -0.2201212 0.99756273] [-0.40342706 0.91100395 0.08554768 -0.05458339] [ 0.23579295 0.0131694 0.97171408 8.27241777] [ 0. 0. 0. 1. ]] SLAMing on 8.304206099 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:1.10, Y:0.09, Z:8.31 [[ 6.98790716e-01 6.93768233e-01 -1.74290488e-01 1.09823261e+00] [-6.75630278e-01 7.20159269e-01 1.57779450e-01 8.77302251e-02] [ 2.34979281e-01 7.50111634e-03 9.71971435e-01 8.30630759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.334206099 meters Centerline goodness : 0.999970 Centerline is valid? [True, True] Translation: X:1.10, Y:0.08, Z:8.34 [[ 7.03021145e-01 6.89130859e-01 -1.75669940e-01 1.09966719e+00] [-6.70754357e-01 7.24606862e-01 1.58219745e-01 8.28361956e-02] [ 2.36325753e-01 6.59955131e-03 9.71651473e-01 8.33596086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.364206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.10, Y:0.09, Z:8.37 [[ 0.69983185 0.69175292 -0.17808222 1.10041319] [-0.67328022 0.72208298 0.15902806 0.08554531] [ 0.23859826 0.00860634 0.97108022 8.36963226] [ 0. 0. 0. 1. ]] SLAMing on 8.394206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.13, Y:0.11, Z:8.40 [[ 6.42003106e-01 7.49018655e-01 -1.63716418e-01 1.13173564e+00] [-7.28700974e-01 6.62501314e-01 1.73455753e-01 1.13862640e-01] [ 2.38383937e-01 7.94118055e-03 9.71138526e-01 8.40306203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.424206099 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:1.13, Y:0.11, Z:8.43 [[ 0.64559747 0.74667131 -0.1602681 1.13456763] [-0.7277626 0.66513635 0.1671982 0.10908306] [ 0.23144224 0.0086944 0.9728098 8.43455497] [ 0. 0. 0. 1. ]] SLAMing on 8.454206098999999 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:1.14, Y:0.11, Z:8.47 [[ 0.64416935 0.74699365 -0.16445772 1.13575389] [-0.73010585 0.66459565 0.15892787 0.10704589] [ 0.228016 0.01769508 0.97349658 8.46604864] [ 0. 0. 0. 1. ]] SLAMing on 8.484206099 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:1.15, Y:0.12, Z:8.50 [[ 0.61842459 0.76993992 -0.15730083 1.15096261] [-0.7516805 0.63794578 0.1673368 0.1192157 ] [ 0.22918868 0.01475477 0.97327018 8.49847321] [ 0. 0. 0. 1. ]] SLAMing on 8.514206098999999 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:1.12, Y:0.10, Z:8.53 [[ 0.6672559 0.72510003 -0.17029244 1.12476824] [-0.70864389 0.68842067 0.15459889 0.09649783] [ 0.2293325 0.01751968 0.97319046 8.52970641] [ 0. 0. 0. 1. ]] SLAMing on 8.544206099 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:1.15, Y:0.12, Z:8.56 [[ 0.62221734 0.76630264 -0.16008072 1.15055943] [-0.74839801 0.64225998 0.16553711 0.11635139] [ 0.22966497 0.01680403 0.97312467 8.56241568] [ 0. 0. 0. 1. ]] SLAMing on 8.574206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.18, Y:0.14, Z:8.59 [[ 0.5636323 0.8130894 -0.1456168 1.18289649] [-0.7936062 0.58193351 0.17760234 0.13908236] [ 0.22914588 0.01545998 0.97326931 8.59475459] [ 0. 0. 0. 1. ]] SLAMing on 8.604206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.20, Y:0.15, Z:8.63 [[ 0.5381486 0.83086403 -0.14163705 1.19559351] [-0.810649 0.55623403 0.18289863 0.14703205] [ 0.23074724 0.01639129 0.97287565 8.62760341] [ 0. 0. 0. 1. ]] SLAMing on 8.634206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.19, Y:0.15, Z:8.66 [[ 0.53979449 0.8295957 -0.14280364 1.19405356] [-0.80944145 0.55810411 0.18254956 0.14726745] [ 0.23114163 0.01705193 0.97277067 8.66052825] [ 0. 0. 0. 1. ]] SLAMing on 8.664206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.31, Y:0.21, Z:8.69 [[ 0.31581124 0.94485474 -0.08667631 1.31196421] [-0.92201975 0.32716635 0.20698252 0.20815007] [ 0.22392599 0.01454986 0.97449754 8.6935815 ] [ 0. 0. 0. 1. ]] SLAMing on 8.694206098999999 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:1.33, Y:0.21, Z:8.72 [[ 0.28199528 0.95594116 -0.08157917 1.33243679] [-0.93108318 0.29318802 0.2170827 0.20616834] [ 0.23143632 0.0147407 0.97273837 8.72400589] [ 0. 0. 0. 1. ]] SLAMing on 8.724206099 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:1.32, Y:0.20, Z:8.75 [[ 0.30393064 0.94872641 -0.08685828 1.3201736 ] [-0.92381691 0.31576777 0.21645561 0.2014324 ] [ 0.2327842 0.01445366 0.972421 8.75257729] [ 0. 0. 0. 1. ]] SLAMing on 8.754206099 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:1.32, Y:0.20, Z:8.76 [[ 0.29987824 0.94967186 -0.09053403 1.32176477] [-0.92519275 0.31265389 0.21509514 0.20185653] [ 0.23257562 0.01925908 0.97238761 8.755249 ] [ 0. 0. 0. 1. ]] SLAMing on 8.784206098999999 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:1.40, Y:0.22, Z:8.74 [[ 0.14367825 0.98804489 -0.05589147 1.40205799] [-0.96303067 0.15259899 0.22200332 0.22248069] [ 0.22787823 0.02192815 0.97344269 8.7412838 ] [ 0. 0. 0. 1. ]] SLAMing on 8.814206099 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:1.49, Y:0.22, Z:8.80 [[-0.02533524 0.99956057 -0.01538831 1.4893257 ] [-0.97303157 -0.02112654 0.22970248 0.22370525] [ 0.22927644 0.02079288 0.97313923 8.80230275] [ 0. 0. 0. 1. ]] SLAMing on 8.844206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.57, Y:0.22, Z:8.74 [[-0.17839763 0.9837104 0.02209393 1.56778499] [-0.95537013 -0.178544 0.23535072 0.21657167] [ 0.23546169 0.02087813 0.97165935 8.74145283] [ 0. 0. 0. 1. ]] SLAMing on 8.874206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.33, Z:8.73 [[-0.96758822 -0.08886075 0.23638276 1.97642687] [ 0.0987957 -0.99464029 0.03049746 -0.32965904] [ 0.23240579 0.05286258 0.97118129 8.72808953] [ 0. 0. 0. 1. ]] SLAMing on 8.904206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.17, Z:8.73 [[-0.94424766 0.22557737 0.23981494 1.95886623] [-0.18510319 -0.96610753 0.17992513 -0.17225458] [ 0.27227406 0.12550338 0.95399986 8.73273898] [ 0. 0. 0. 1. ]] SLAMing on 8.934206098999999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.76, Z:8.83 [[-0.22823517 -0.97054335 0.07716419 1.58092684] [ 0.96400039 -0.2363782 -0.12177271 -0.76182501] [ 0.13642563 0.0465935 0.98955399 8.83292659] [ 0. 0. 0. 1. ]] SLAMing on 8.964206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.77, Z:8.87 [[ 5.13731970e-02 -9.98656235e-01 6.82049013e-03 1.43577610e+00] [ 9.90252602e-01 5.00531833e-02 -1.29978700e-01 -7.71281282e-01] [ 1.29462651e-01 1.34314294e-02 9.91493328e-01 8.87116053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.994206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.76, Z:8.92 [[ 8.63824623e-02 -9.96253299e-01 4.17546824e-03 1.41469656e+00] [ 9.87435883e-01 8.50597743e-02 -1.33173612e-01 -7.62843440e-01] [ 1.32319486e-01 1.56268717e-02 9.91083929e-01 8.91612610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.024206098999999 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.14, Z:8.96 [[ 0.96907766 0.08083112 -0.23314118 0.95799681] [-0.07192083 0.99632657 0.04648395 -0.14428901] [ 0.23604211 -0.02827885 0.97133127 8.95512268] [ 0. 0. 0. 1. ]] SLAMing on 9.054206099 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.05, Z:9.04 [[ 9.58119804e-01 1.50204972e-01 -2.43813265e-01 9.74968487e-01] [-1.55243569e-01 9.87875132e-01 -1.46908055e-03 -4.74480352e-02] [ 2.40636398e-01 3.92579966e-02 9.69821083e-01 9.04334504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.084206099 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:1.23, Y:0.31, Z:9.05 [[ 0.47231971 0.87116161 -0.13413253 1.22873338] [-0.85025411 0.49042197 0.19119163 0.31351887] [ 0.23234035 0.02374316 0.9723447 9.0519423 ] [ 0. 0. 0. 1. ]] SLAMing on 9.114206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.89, Y:0.15, Z:9.05 [[-0.80813948 0.56665753 0.16065434 1.89314073] [-0.54201633 -0.82223033 0.17365366 0.15421775] [ 0.23049703 0.0532591 0.97161442 9.04694188] [ 0. 0. 0. 1. ]] SLAMing on 9.144206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.73, Y:0.31, Z:9.05 [[-0.51567441 0.85660487 0.01754979 1.73300956] [-0.82224884 -0.50054142 0.27085999 0.30655933] [ 0.24080439 0.12524527 0.96245876 9.04941737] [ 0. 0. 0. 1. ]] SLAMing on 9.174206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.01, Y:0.09, Z:8.96 [[ 0.89493586 -0.43753099 -0.08750111 1.01230579] [-0.42546259 -0.89586614 0.12808376 0.09295621] [-0.13442989 -0.0773983 -0.9878958 8.96024501] [ 0. 0. 0. 1. ]] SLAMing on 9.204206098999999 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.09, Z:9.04 [[-9.23042627e-01 -5.18495276e-02 3.81187532e-01 1.98933909e+00] [-5.44044825e-02 9.98510650e-01 4.07843622e-03 -8.51427831e-02] [-3.80831276e-01 -1.69737400e-02 -9.24488741e-01 9.04116639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.234206099 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:1.44, Y:0.39, Z:8.84 [[ 0.009961 -0.97721067 0.21203794 1.44455173] [-0.9662283 0.04519793 0.25369278 0.39408595] [-0.25749497 -0.20740409 -0.94375838 8.83929677] [ 0. 0. 0. 1. ]] SLAMing on 9.264206098999999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.63, Z:8.74 [[-0.04409087 0.9891279 0.14029252 1.57856668] [ 0.95774639 0.08180095 -0.27573621 -0.62728193] [-0.28421444 0.1222072 -0.95094035 8.73637569] [ 0. 0. 0. 1. ]] SLAMing on 9.294206098999998 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:2.00, Y:0.06, Z:8.73 [[-0.86771455 -0.31413635 0.38521399 1.99999347] [-0.31470829 0.94706719 0.06342257 0.06117235] [-0.38474687 -0.06619735 -0.92064529 8.73206818] [ 0. 0. 0. 1. ]] SLAMing on 9.324206099 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:1.32, Y:0.36, Z:8.47 [[ 0.28106938 -0.94498527 0.16734048 1.31872121] [-0.9394237 -0.23527643 0.24925511 0.36119677] [-0.19617114 -0.22726159 -0.95387056 8.46572362] [ 0. 0. 0. 1. ]] SLAMing on 9.354206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.31, Z:8.22 [[ 0.99001937 0.13805088 -0.02834787 0.99609155] [ 0.13939904 -0.98882136 0.05291708 -0.3114939 ] [-0.02072573 -0.0563406 -0.99819646 8.22453567] [ 0. 0. 0. 1. ]] SLAMing on 9.384206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.74, Z:8.18 [[ 0.10786447 0.98597563 0.12734724 1.56907081] [ 0.98157194 -0.08529659 -0.17100005 -0.74016716] [-0.1577396 0.14344531 -0.97700648 8.1818986 ] [ 0. 0. 0. 1. ]] SLAMing on 9.414206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.04, Y:0.04, Z:8.26 [[-7.89454034e-01 -4.88709288e-01 3.71383305e-01 2.03924148e+00] [-4.44964839e-01 8.72428435e-01 2.02175463e-01 4.15428163e-02] [-4.22810382e-01 -5.64427774e-03 -9.06200597e-01 8.25906781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.444206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.18, Y:0.06, Z:7.99 [[ 0.8087118 -0.5879546 -0.01716411 1.17981585] [-0.55841618 -0.77659723 0.29166439 0.05559078] [-0.18481502 -0.22628772 -0.95636671 7.99493425] [ 0. 0. 0. 1. ]] SLAMing on 9.474206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.71, Z:7.81 [[ 4.73890761e-01 8.80567147e-01 5.38947681e-03 1.44082139e+00] [ 8.78947080e-01 -4.72628212e-01 -6.38326214e-02 -7.10037305e-01] [-5.36616905e-02 3.49867545e-02 -9.97946066e-01 7.80840316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.504206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.35, Z:7.84 [[-0.87913757 0.32267269 0.35071281 2.18496677] [ 0.34808426 0.93740898 0.01008711 -0.35010138] [-0.3255065 0.13094557 -0.93642873 7.84042069] [ 0. 0. 0. 1. ]] SLAMing on 9.534206098999999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:2.01, Y:0.23, Z:7.83 [[-0.55575 -0.7857156 0.27164853 2.00614801] [-0.72849167 0.61769304 0.29623503 0.22885369] [-0.4005519 -0.03326107 -0.91567018 7.82555312] [ 0. 0. 0. 1. ]] SLAMing on 9.564206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.28, Y:0.09, Z:7.60 [[ 0.80660704 -0.58771916 -0.06301796 1.27622662] [-0.5453545 -0.78107669 0.30415074 0.09419496] [-0.22797708 -0.21096301 -0.95053725 7.59713001] [ 0. 0. 0. 1. ]] SLAMing on 9.594206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.67, Z:7.40 [[ 0.38992021 0.92074223 -0.01399891 1.56719764] [ 0.9180109 -0.38986624 -0.07252788 -0.67493922] [-0.07223718 0.01542894 -0.99726814 7.39911294] [ 0. 0. 0. 1. ]] SLAMing on 9.624206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.29, Z:7.40 [[-0.89187185 0.31720865 0.32240235 2.26282907] [ 0.34073532 0.93999192 0.01773768 -0.29252158] [-0.29742906 0.12567361 -0.94643653 7.40026053] [ 0. 0. 0. 1. ]] SLAMing on 9.654206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.93, Y:0.36, Z:7.38 [[-0.26937283 -0.95070597 0.15361134 1.92888421] [-0.8862462 0.30713532 0.34675001 0.3627501 ] [-0.37683677 -0.04273243 -0.92529346 7.38190891] [ 0. 0. 0. 1. ]] SLAMing on 9.684206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.04, Z:7.17 [[ 0.95436997 -0.2463681 -0.16876234 1.28450234] [-0.20547949 -0.95184234 0.22753973 -0.03644028] [-0.21669367 -0.18247989 -0.95903334 7.16677779] [ 0. 0. 0. 1. ]] SLAMing on 9.714206098999998 meters Centerline goodness : 0.986040 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.59, Z:6.99 [[ 4.00084006e-01 9.15305954e-01 -4.63443544e-02 1.62390374e+00] [ 9.10775506e-01 -4.02718246e-01 -9.11372151e-02 -5.93627056e-01] [-1.02082153e-01 -5.74676064e-03 -9.94759372e-01 6.99338590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.744206099 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:1.79, Y:0.36, Z:7.11 [[ 0.09404316 -0.99553326 0.00833145 1.78682245] [-0.89882203 -0.08130281 0.43070733 0.36091255] [-0.4281061 -0.04799357 -0.9024532 7.11173338] [ 0. 0. 0. 1. ]] SLAMing on 9.774206098999999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.18, Z:6.88 [[ 0.97210045 0.01041741 -0.23433352 1.33207398] [ 0.0667412 -0.97000466 0.23374469 -0.17680003] [-0.22486959 -0.24286301 -0.94363723 6.87709186] [ 0. 0. 0. 1. ]] SLAMing on 9.804206099 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.63, Z:6.60 [[ 0.08049086 0.9941882 -0.07149158 1.88804003] [ 0.99664037 -0.0813637 -0.00937716 -0.6294363 ] [-0.01513948 -0.07049662 -0.99739712 6.60477493] [ 0. 0. 0. 1. ]] SLAMing on 9.834206099 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.62, Z:6.61 [[-0.22693122 0.9723417 -0.05526149 2.04123573] [ 0.9737513 0.22550164 -0.03094228 -0.61940477] [-0.01762491 -0.06083272 -0.99799236 6.60776334] [ 0. 0. 0. 1. ]] SLAMing on 9.864206098999999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.57, Z:6.60 [[-4.95744398e-01 8.66945012e-01 -5.14182745e-02 2.17589667e+00] [ 8.68457128e-01 4.95170950e-01 -2.42476225e-02 -5.66157266e-01] [ 4.43948044e-03 -5.66751900e-02 -9.98382799e-01 6.59672765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.894206099 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.47, Z:6.55 [[-0.71131682 0.70134196 -0.04634477 2.27238321] [ 0.70280781 0.71059235 -0.03346175 -0.47409361] [ 0.00946412 -0.05637337 -0.9983649 6.54937353] [ 0. 0. 0. 1. ]] SLAMing on 9.924206099 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:2.28, Y:0.23, Z:6.71 [[-7.16678645e-01 -6.97390443e-01 -4.27673609e-03 2.28364348e+00] [-6.57546755e-01 6.73664144e-01 3.37355725e-01 2.32997032e-01] [-2.32387575e-01 2.44587798e-01 -9.41367529e-01 6.71004722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.954206098999999 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:1.51, Y:0.10, Z:6.86 [[ 7.47186055e-01 -4.95402798e-01 -4.43045220e-01 1.51059056e+00] [-4.27450210e-01 -8.68660436e-01 2.50430360e-01 1.04962249e-01] [-5.08919755e-01 2.26169974e-03 -8.60810994e-01 6.85846563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.984206099 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:1.51, Y:0.10, Z:6.86 [[ 7.53294468e-01 -4.77777202e-01 -4.51969457e-01 1.51010184e+00] [-4.11589409e-01 -8.78475055e-01 2.42643228e-01 9.61175985e-02] [-5.12973296e-01 3.24404065e-03 -8.58398435e-01 6.86294724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.014206098999999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:1.50, Y:0.08, Z:6.87 [[ 7.66582540e-01 -4.51028289e-01 -4.57082807e-01 1.50209634e+00] [-3.88041376e-01 -8.92508934e-01 2.29894960e-01 8.19755774e-02] [-5.11639620e-01 1.13357923e-03 -8.59199403e-01 6.86895679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.044206098999998 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:1.49, Y:0.06, Z:6.86 [[ 0.7898265 -0.41152891 -0.45477253 1.48845337] [-0.35213566 -0.91135988 0.21312822 0.06203477] [-0.50216986 -0.00819269 -0.86473019 6.8646527 ] [ 0. 0. 0. 1. ]] SLAMing on 10.074206099 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:1.49, Y:0.07, Z:6.87 [[ 0.78631276 -0.41921458 -0.4538407 1.49444914] [-0.36990386 -0.90780169 0.19765432 0.06969222] [-0.49485693 0.01245931 -0.86888514 6.87358732] [ 0. 0. 0. 1. ]] SLAMing on 10.104206098999999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.31, Z:6.62 [[-9.41542398e-01 3.36835306e-01 6.31583638e-03 2.40344496e+00] [ 3.35136716e-01 9.38377744e-01 -8.44428318e-02 -3.06476972e-01] [-3.43699674e-02 -7.73898376e-02 -9.96408309e-01 6.61898375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.134206098999998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.10, Z:6.88 [[ 0.85996808 -0.08605701 -0.50303985 1.45159939] [-0.08016059 -0.99622257 0.03338977 -0.09511974] [-0.50401308 0.01160983 -0.86361799 6.88147378] [ 0. 0. 0. 1. ]] SLAMing on 10.164206099 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.14, Z:6.83 [[ 8.55515924e-01 -1.05020301e-02 -5.17669982e-01 1.43954918e+00] [-6.00114634e-04 -9.99813720e-01 1.92915690e-02 -1.38691700e-01] [-5.17776151e-01 -1.61935832e-02 -8.55362862e-01 6.82791822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.194206098999999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.15, Z:6.83 [[ 0.85525121 0.01782617 -0.51790694 1.44048011] [ 0.02517466 -0.99965739 0.0071646 -0.15291821] [-0.51760179 -0.01916566 -0.85540696 6.83022937] [ 0. 0. 0. 1. ]] SLAMing on 10.224206099 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.16, Z:6.86 [[ 0.85858034 0.0326647 -0.51163739 1.44574254] [ 0.04214588 -0.99908736 0.00693995 -0.16136853] [-0.51094376 -0.02752191 -0.85917345 6.86084601] [ 0. 0. 0. 1. ]] SLAMing on 10.254206099 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.13, Z:6.88 [[ 8.64856936e-01 -1.17360374e-02 -5.01881207e-01 1.44906562e+00] [-9.44661944e-03 -9.99930147e-01 7.10375912e-03 -1.33999364e-01] [-5.01929519e-01 -1.40265457e-03 -8.64907388e-01 6.88248254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.284206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.15, Z:6.88 [[ 8.65446949e-01 1.17203460e-02 -5.00863466e-01 1.44815536e+00] [ 1.04215351e-02 -9.99931161e-01 -5.39119668e-03 -1.46620580e-01] [-5.00892174e-01 -5.53971456e-04 -8.65509516e-01 6.88452688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.314206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.29, Z:6.87 [[ 0.82214938 0.25294185 -0.50999099 1.47241522] [ 0.27979854 -0.95973465 -0.02494329 -0.28694054] [-0.49576523 -0.12218762 -0.85981802 6.86886284] [ 0. 0. 0. 1. ]] SLAMing on 10.344206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.19, Z:6.88 [[ 0.86104291 0.10102628 -0.49839623 1.45028782] [ 0.09748026 -0.99468303 -0.03321541 -0.19354359] [-0.4991019 -0.0199839 -0.86631284 6.88498857] [ 0. 0. 0. 1. ]] SLAMing on 10.374206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.19, Z:6.89 [[ 0.86284678 0.0863619 -0.49803319 1.45036019] [ 0.07979951 -0.99621386 -0.03449605 -0.18502433] [-0.49912671 -0.009978 -0.86647156 6.88576313] [ 0. 0. 0. 1. ]] SLAMing on 10.404206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.20, Z:6.89 [[ 0.85996621 0.1165792 -0.49685754 1.45254085] [ 0.10598973 -0.99313075 -0.04957317 -0.20001068] [-0.4992237 -0.01003055 -0.86641508 6.88743204] [ 0. 0. 0. 1. ]] SLAMing on 10.434206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.21, Z:6.89 [[ 0.85827618 0.14417013 -0.49252104 1.45388902] [ 0.12931831 -0.98951635 -0.0642975 -0.21350356] [-0.4966274 -0.00850698 -0.86792215 6.89010805] [ 0. 0. 0. 1. ]] SLAMing on 10.464206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.23, Z:6.89 [[ 0.8538985 0.17414461 -0.49043961 1.45693173] [ 0.15530795 -0.98468331 -0.07923516 -0.22836122] [-0.49672608 -0.00851039 -0.86786564 6.89177594] [ 0. 0. 0. 1. ]] SLAMing on 10.494206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.26, Z:6.89 [[ 0.83045347 0.22595671 -0.50920585 1.47136801] [ 0.20530146 -0.97384842 -0.09731678 -0.25584597] [-0.5178787 -0.02372364 -0.85512504 6.89214861] [ 0. 0. 0. 1. ]] SLAMing on 10.524206098999999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.27, Z:6.89 [[ 0.82079567 0.25872912 -0.50926782 1.47612395] [ 0.23425961 -0.96558487 -0.11299684 -0.27135975] [-0.52097688 -0.02655357 -0.85315766 6.89392753] [ 0. 0. 0. 1. ]] SLAMing on 10.554206098999998 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.27, Z:6.90 [[ 0.83538364 0.26582505 -0.48111455 1.46959886] [ 0.23711143 -0.96393235 -0.12088256 -0.27376491] [-0.49589549 -0.01309444 -0.86828348 6.89669019] [ 0. 0. 0. 1. ]] SLAMing on 10.584206099 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.29, Z:6.90 [[ 0.81089348 0.29758261 -0.5038813 1.48316941] [ 0.264146 -0.95447152 -0.13860379 -0.28841574] [-0.52218642 -0.02070532 -0.85257998 6.89780055] [ 0. 0. 0. 1. ]] SLAMing on 10.614206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.30, Z:6.90 [[ 0.82165442 0.31626571 -0.47419407 1.47864194] [ 0.28044524 -0.94858926 -0.14672723 -0.29880162] [-0.4962202 -0.01242639 -0.86810777 6.89999895] [ 0. 0. 0. 1. ]] SLAMing on 10.644206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.31, Z:6.90 [[ 0.81527513 0.33764698 -0.47044763 1.48216405] [ 0.29800128 -0.94121437 -0.15909349 -0.30901163] [-0.49650951 -0.01048903 -0.86796791 6.90042735] [ 0. 0. 0. 1. ]] SLAMing on 10.674206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.32, Z:6.90 [[ 0.80626652 0.36506462 -0.46546979 1.48899548] [ 0.32145777 -0.93092957 -0.17330623 -0.32291249] [-0.49658756 -0.00989787 -0.86793019 6.90351161] [ 0. 0. 0. 1. ]] SLAMing on 10.704206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.34, Z:6.91 [[ 0.79624469 0.39334074 -0.45964927 1.49527872] [ 0.34597964 -0.91934024 -0.18738094 -0.33701395] [-0.49627863 -0.00982821 -0.86810767 6.90570369] [ 0. 0. 0. 1. ]] SLAMing on 10.734206099 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:2.43, Y:0.02, Z:6.68 [[-0.82985169 0.35254118 0.43250536 2.4283955 ] [-0.24980139 -0.92783287 0.27699355 0.02323333] [ 0.49894432 0.12182313 0.85802896 6.68227859] [ 0. 0. 0. 1. ]] SLAMing on 10.764206098999999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:2.46, Y:0.02, Z:6.73 [[-0.80312391 0.45861651 0.38034574 2.45843202] [-0.3245489 -0.87208524 0.36624494 0.01967541] [ 0.49965988 0.17069928 0.84923599 6.73335444] [ 0. 0. 0. 1. ]] SLAMing on 10.794206098999998 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.58, Z:7.06 [[ 5.62397304e-01 -8.26340989e-01 2.94931000e-02 1.72892781e+00] [ 8.25089763e-01 5.63168743e-01 4.54736071e-02 -5.75063304e-01] [-5.41862975e-02 -1.23977913e-03 9.98530074e-01 7.05858790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.824206099 meters Centerline goodness : 0.999970 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.57, Z:7.09 [[ 5.48586195e-01 -8.35425043e-01 3.34392710e-02 1.74155920e+00] [ 8.34171776e-01 5.49597499e-01 4.58261711e-02 -5.71098056e-01] [-5.66624706e-02 2.75449131e-03 9.98389592e-01 7.08594893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.854206098999999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.56, Z:7.12 [[ 5.60178474e-01 -8.27792803e-01 3.09701903e-02 1.74150201e+00] [ 8.26472912e-01 5.61033633e-01 4.67310181e-02 -5.58732158e-01] [-5.60589189e-02 -5.81687026e-04 9.98427293e-01 7.11736125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.884206098999998 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.55, Z:7.15 [[ 5.57247050e-01 -8.29726462e-01 3.20893080e-02 1.74887182e+00] [ 8.28452564e-01 5.58169385e-01 4.59705005e-02 -5.50455749e-01] [-5.60542101e-02 9.67543703e-04 9.98427258e-01 7.14731486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.914206099 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.53, Z:7.20 [[ 5.91750128e-01 -8.05675053e-01 2.68234038e-02 1.73430725e+00] [ 8.04263750e-01 5.92317213e-01 4.81678201e-02 -5.25340598e-01] [-5.46955748e-02 -6.93022240e-03 9.98479026e-01 7.19587188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.944206098999999 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.52, Z:7.22 [[ 0.58005327 -0.81428253 0.02195835 1.75055316] [ 0.81315516 0.58042216 0.04346043 -0.52031448] [-0.04813418 -0.00735382 0.99881381 7.22358705] [ 0. 0. 0. 1. ]] SLAMing on 10.974206098999998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.53, Z:7.26 [[ 5.53003435e-01 -8.32574014e-01 3.17444705e-02 1.76632421e+00] [ 8.31626476e-01 5.53897038e-01 3.99434085e-02 -5.25329364e-01] [-5.08390122e-02 4.31069998e-03 9.98697558e-01 7.25810608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.004206099 meters Centerline goodness : 0.999970 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.51, Z:7.29 [[ 5.62881242e-01 -8.26055047e-01 2.82447572e-02 1.76604960e+00] [ 8.25019447e-01 5.63589441e-01 4.13503693e-02 -5.13232896e-01] [-5.00761282e-02 2.71267596e-05 9.98745403e-01 7.28951152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.034206098999999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:2.43, Y:0.24, Z:7.01 [[-0.53255354 0.80805359 0.25186528 2.43028799] [-0.6533581 -0.58164076 0.48457942 0.23729261] [ 0.53806125 0.09350627 0.83770321 7.01461782] [ 0. 0. 0. 1. ]] SLAMing on 11.064206099 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.61, Z:7.37 [[ 0.30239526 -0.95264493 0.03201167 1.97557306] [ 0.95106657 0.30379031 0.0564254 -0.6087206 ] [-0.0634782 0.01338245 0.9978935 7.37414439] [ 0. 0. 0. 1. ]] SLAMing on 11.094206098999999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.59, Z:7.41 [[ 3.41548735e-01 -9.39604837e-01 2.20728997e-02 1.95854845e+00] [ 9.37734976e-01 3.42260921e-01 5.92501178e-02 -5.91069607e-01] [-6.32263882e-02 4.61727298e-04 9.97999104e-01 7.40544217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.124206098999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.58, Z:7.44 [[ 3.37650822e-01 -9.41070351e-01 1.94554877e-02 1.96289873e+00] [ 9.39636791e-01 3.38210047e-01 5.19294241e-02 -5.78036914e-01] [-5.54492827e-02 7.47079281e-04 9.98461226e-01 7.43517544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.154206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.57, Z:7.47 [[ 3.39926286e-01 -9.40186989e-01 2.23281280e-02 1.96367631e+00] [ 9.38343473e-01 3.40657500e-01 5.88557073e-02 -5.71616018e-01] [-6.29416145e-02 9.44851208e-04 9.98016764e-01 7.46787096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.184206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.56, Z:7.50 [[ 3.40538687e-01 -9.39965154e-01 2.23363546e-02 1.96685029e+00] [ 9.38115481e-01 3.41269298e-01 5.89458281e-02 -5.61625853e-01] [-6.30297364e-02 8.80745156e-04 9.98011261e-01 7.49946166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.214206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.55, Z:7.53 [[ 3.43611168e-01 -9.38911486e-01 1.94058204e-02 1.96993078e+00] [ 9.37532485e-01 3.44157976e-01 5.08736356e-02 -5.46678450e-01] [-5.44445087e-02 7.12837705e-04 9.98516543e-01 7.52874024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.244206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.54, Z:7.56 [[ 3.43765814e-01 -9.38776192e-01 2.28981935e-02 1.97095017e+00] [ 9.36900541e-01 3.44525962e-01 5.93231591e-02 -5.41986514e-01] [-6.35801915e-02 1.06005581e-03 9.97976170e-01 7.56221763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.274206098999999 meters Centerline goodness : 0.999817 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.53, Z:7.59 [[ 3.38916816e-01 -9.40549513e-01 2.24054773e-02 1.97576616e+00] [ 9.38754796e-01 3.39653948e-01 5.80915472e-02 -5.33196438e-01] [-6.22480853e-02 1.34504706e-03 9.98059801e-01 7.59370899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.304206098999998 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.52, Z:7.62 [[ 3.38368077e-01 -9.40810847e-01 1.95447042e-02 1.98086894e+00] [ 9.39466089e-01 3.38929421e-01 5.03022376e-02 -5.19115029e-01] [-5.39491661e-02 1.34091539e-03 9.98542783e-01 7.62383253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.334206099 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.51, Z:7.65 [[ 0.31873477 -0.94751619 0.0249243 1.99607344] [ 0.94640719 0.31958888 0.04665172 -0.51081601] [-0.05216879 0.00871902 0.99860022 7.65130097] [ 0. 0. 0. 1. ]] SLAMing on 11.364206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.68, Y:0.16, Z:7.57 [[ 0.96160554 0.21829321 -0.16632158 1.67846792] [-0.16380779 0.9428011 0.29033273 0.15887204] [ 0.22018583 -0.25194079 0.94236089 7.57230616] [ 0. 0. 0. 1. ]] SLAMing on 11.394206098999998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:1.71, Y:0.25, Z:7.64 [[ 0.94991083 0.25441851 -0.18149558 1.7050017 ] [-0.20888478 0.94883583 0.23680732 0.24632864] [ 0.23245768 -0.18703418 0.95445358 7.63930715] [ 0. 0. 0. 1. ]] SLAMing on 11.424206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.11, Z:7.72 [[-0.89148426 -0.28649005 0.35096903 2.68466566] [ 0.35163054 -0.92601989 0.13727027 -0.10705234] [ 0.28567774 0.24578572 0.92627081 7.71605327] [ 0. 0. 0. 1. ]] SLAMing on 11.454206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.72, Y:0.28, Z:7.81 [[ 0.94760208 0.26420436 -0.1795727 1.71816724] [-0.21835431 0.94600027 0.23959319 0.28073298] [ 0.23317739 -0.18782853 0.95412198 7.81327324] [ 0. 0. 0. 1. ]] SLAMing on 11.484206099 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:1.75, Y:0.37, Z:7.89 [[ 0.92914783 0.31362484 -0.19576457 1.75029837] [-0.27771379 0.94160619 0.19040179 0.37096117] [ 0.24404786 -0.12254489 0.96198929 7.88604111] [ 0. 0. 0. 1. ]] SLAMing on 11.514206098999999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.04, Z:7.97 [[-0.87554316 -0.35163543 0.33132566 2.70240715] [ 0.3910566 -0.91850035 0.05858184 -0.04180735] [ 0.28372329 0.18085802 0.94169606 7.96513664] [ 0. 0. 0. 1. ]] SLAMing on 11.544206098999998 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.32, Z:8.11 [[ 3.14900231e-01 -9.49122898e-01 -1.88928190e-03 2.05688484e+00] [ 9.45005715e-01 3.13718237e-01 -9.24395301e-02 -3.24670680e-01] [ 8.83291769e-02 2.73238472e-02 9.95716508e-01 8.10625253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.574206099 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.29, Z:8.14 [[ 4.52301386e-01 -8.90955710e-01 -4.02663525e-02 1.98538390e+00] [ 8.87678884e-01 4.54088605e-01 -7.63527222e-02 -2.87333157e-01] [ 8.63113856e-02 -1.20914876e-03 9.96267475e-01 8.14038306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.604206098999999 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.28, Z:8.17 [[ 4.54211420e-01 -8.89974972e-01 -4.04541056e-02 1.98758033e+00] [ 8.86615144e-01 4.56008718e-01 -7.72634175e-02 -2.80316594e-01] [ 8.72099326e-02 -7.73296093e-04 9.96189655e-01 8.17296762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.634206098999998 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.27, Z:8.21 [[ 4.57069440e-01 -8.88491494e-01 -4.08704370e-02 1.98774423e+00] [ 8.85136521e-01 4.58892174e-01 -7.71447457e-02 -2.74111477e-01] [ 8.72975740e-02 -9.15410696e-04 9.96181859e-01 8.20509613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.664206099 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.27, Z:8.24 [[ 4.60983729e-01 -8.86468665e-01 -4.08326842e-02 1.98992052e+00] [ 8.83170243e-01 4.62787856e-01 -7.64049905e-02 -2.66732510e-01] [ 8.66275003e-02 -8.40754182e-04 9.96240417e-01 8.23680354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.694206098999999 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.26, Z:8.27 [[ 4.63522210e-01 -8.85319704e-01 -3.68263837e-02 1.99272143e+00] [ 8.82673674e-01 4.64982131e-01 -6.84017793e-02 -2.63750514e-01] [ 7.76810534e-02 -7.99935499e-04 9.96977941e-01 8.26941854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.724206098999998 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.26, Z:8.30 [[ 4.51342086e-01 -8.91811144e-01 -3.10355385e-02 2.01157290e+00] [ 8.88703199e-01 4.52366659e-01 -7.46393282e-02 -2.58832332e-01] [ 8.06036275e-02 6.10648777e-03 9.96727528e-01 8.29914804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.754206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.80, Y:0.47, Z:8.29 [[ 0.88725234 0.42272292 -0.18463105 1.8047217 ] [-0.38365659 0.89847428 0.21342816 0.47429877] [ 0.25610722 -0.11852971 0.95935384 8.28565643] [ 0. 0. 0. 1. ]] SLAMing on 11.784206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.71, Y:0.00, Z:8.37 [[-8.44228946e-01 -4.15114307e-01 3.39053976e-01 2.71056245e+00] [ 4.53475584e-01 -8.90416364e-01 3.89691427e-02 1.83972087e-03] [ 2.85722560e-01 1.86651578e-01 9.39959471e-01 8.36889181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.814206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.27, Z:8.51 [[ 0.27470629 -0.96085762 0.03590394 2.112334 ] [ 0.9576011 0.27002217 -0.10043979 -0.26589608] [ 0.08681347 0.06197309 0.99429511 8.50811299] [ 0. 0. 0. 1. ]] SLAMing on 11.844206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.20, Z:8.54 [[ 0.52944382 -0.8477279 -0.03235195 1.97905685] [ 0.84489808 0.53034331 -0.06987995 -0.20030389] [ 0.07639683 0.00966341 0.99703066 8.54431571] [ 0. 0. 0. 1. ]] SLAMing on 11.874206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.86, Y:0.58, Z:8.52 [[ 0.81211146 0.56328909 -0.15225102 1.85875983] [-0.52160099 0.81776691 0.2432893 0.58478467] [ 0.26154805 -0.11816375 0.95793003 8.51809801] [ 0. 0. 0. 1. ]] SLAMing on 11.904206099 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:2.43, Y:0.80, Z:8.55 [[-0.14938287 0.98812803 0.0358854 2.42837115] [-0.91879142 -0.15212908 0.36425137 0.80247124] [ 0.3653862 0.02144172 0.93060904 8.54781982] [ 0. 0. 0. 1. ]] SLAMing on 11.934206098999999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:2.82, Y:0.54, Z:8.68 [[-0.81634499 0.54957384 0.17762166 2.81593846] [-0.48436513 -0.818949 0.30775469 0.53951182] [ 0.31459701 0.16520026 0.93473932 8.67529213] [ 0. 0. 0. 1. ]] SLAMing on 11.964206098999998 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.21, Z:8.80 [[-0.32666514 -0.94347976 0.05599839 2.55618671] [ 0.93646579 -0.33110723 -0.11575762 -0.21318645] [ 0.12775645 0.0146266 0.99169771 8.80010822] [ 0. 0. 0. 1. ]] SLAMing on 11.994206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.22, Z:8.78 [[-0.28858748 0.95680086 0.03534666 2.53997071] [ 0.86217441 0.27574685 -0.42499289 -0.2182234 ] [-0.41638029 -0.09217264 -0.90450631 8.77982555] [ 0. 0. 0. 1. ]] SLAMing on 12.024206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 12.054206098999998 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.25, Z:8.70 [[ 1.13053217e-01 9.92455492e-01 -4.74453971e-02 2.32772367e+00] [ 9.02191389e-01 -1.22541809e-01 -4.13562815e-01 -2.54284899e-01] [-4.16256732e-01 3.94977799e-03 -9.09238545e-01 8.70026643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.084206099 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.23, Z:8.84 [[ 2.40154544e-03 9.93720450e-01 1.11865540e-01 2.39987267e+00] [ 8.94043864e-01 4.79794133e-02 -4.45402678e-01 -2.26066210e-01] [-4.47972993e-01 1.01082354e-01 -8.88314446e-01 8.83863695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.114206098999999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.11, Z:8.80 [[-0.58613382 0.76364063 0.27073996 2.72148537] [ 0.65844464 0.64367531 -0.39004198 -0.10824241] [-0.47212053 -0.05034952 -0.88009495 8.80174987] [ 0. 0. 0. 1. ]] SLAMing on 12.144206098999998 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:2.87, Y:0.48, Z:8.57 [[-0.87241187 -0.31527565 0.37349538 2.87491374] [-0.39962084 0.90008125 -0.17365748 0.48137362] [-0.28142621 -0.30075738 -0.91123229 8.57015136] [ 0. 0. 0. 1. ]] SLAMing on 12.174206099 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:2.67, Y:0.71, Z:8.34 [[-0.52116811 -0.78305626 0.33942112 2.66530713] [-0.8467741 0.52409783 -0.09107734 0.71376312] [-0.10657119 -0.33487962 -0.93621484 8.33995588] [ 0. 0. 0. 1. ]] SLAMing on 12.204206098999999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:2.31, Y:0.75, Z:8.12 [[ 0.10630165 -0.96433898 0.24238459 2.30708566] [-0.99195238 -0.11970933 -0.04123285 0.75088653] [ 0.06877814 -0.23605085 -0.96930365 8.11644773] [ 0. 0. 0. 1. ]] SLAMing on 12.234206098999998 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:2.14, Y:0.65, Z:7.96 [[ 0.40265732 -0.88748171 0.22415015 2.13591842] [-0.90647889 -0.42062555 -0.03701591 0.64761061] [ 0.12713422 -0.18828265 -0.97385139 7.96411865] [ 0. 0. 0. 1. ]] SLAMing on 12.264206098999999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:1.87, Y:0.23, Z:7.85 [[ 0.95136965 -0.29326697 0.0942882 1.86862689] [-0.27985667 -0.9507367 -0.13334153 0.22883547] [ 0.12874792 0.1004699 -0.98657477 7.85187643] [ 0. 0. 0. 1. ]] SLAMing on 12.294206098999998 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.24, Z:7.86 [[ 0.87915844 0.47009047 0.07807299 1.97089165] [ 0.47205594 -0.83673983 -0.27754214 -0.23788497] [-0.06514313 0.28085833 -0.95753588 7.859 ] [ 0. 0. 0. 1. ]] SLAMing on 12.324206099 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.16, Z:8.07 [[-0.75040494 0.41347375 0.51568584 2.85852965] [ 0.31685338 0.90972415 -0.26833917 -0.15552672] [-0.58008306 -0.03796624 -0.81367205 8.06505041] [ 0. 0. 0. 1. ]] SLAMing on 12.354206098999999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:2.75, Y:0.44, Z:7.78 [[-0.53503211 -0.66736202 0.51804302 2.74584305] [-0.7850112 0.61934746 -0.01288932 0.44082363] [-0.31224678 -0.41356577 -0.85525745 7.77862141] [ 0. 0. 0. 1. ]] SLAMing on 12.384206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.35, Y:0.51, Z:7.47 [[ 0.19972005 -0.90023541 0.38689548 2.35430482] [-0.97956116 -0.19307343 0.05641438 0.50822065] [ 0.02391302 -0.39025487 -0.92039628 7.47159749] [ 0. 0. 0. 1. ]] SLAMing on 12.414206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.05, Y:0.20, Z:7.26 [[ 8.25661383e-01 -5.01997682e-01 2.57452146e-01 2.04643232e+00] [-5.18424008e-01 -8.55110555e-01 -4.74197997e-03 1.99938972e-01] [ 2.22530511e-01 -1.29554104e-01 -9.66279414e-01 7.25629369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.444206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.19, Z:7.17 [[ 0.9755655 0.07433813 0.20675059 2.02647271] [ 0.09581649 -0.99077052 -0.09587997 -0.1896299 ] [ 0.19771485 0.1133473 -0.97368436 7.17266437] [ 0. 0. 0. 1. ]] SLAMing on 12.474206098999998 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.60, Z:7.23 [[ 0.5759057 0.77749014 0.25266917 2.32859306] [ 0.81482793 -0.52086448 -0.2544713 -0.60073515] [-0.06624253 0.35243337 -0.9334895 7.22647055] [ 0. 0. 0. 1. ]] SLAMing on 12.504206099 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.14, Z:7.48 [[-7.73915655e-01 -4.03518873e-03 6.33275829e-01 3.05719073e+00] [-4.35130850e-02 9.97955267e-01 -4.68177032e-02 -1.38539324e-01] [-6.31792031e-01 -6.37887385e-02 -7.72508787e-01 7.47674846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.534206098999999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.16, Z:7.43 [[-7.79342484e-01 4.54422246e-02 6.24948236e-01 3.08082652e+00] [ 4.88227857e-03 9.97776913e-01 -6.64634815e-02 -1.63344562e-01] [-6.26579170e-01 -4.87466433e-02 -7.77831799e-01 7.43499997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.564206098999998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.20, Z:7.39 [[-0.77479112 0.11445663 0.62177038 3.09849693] [ 0.07304034 0.99309556 -0.09179492 -0.19958653] [-0.62798394 -0.02570757 -0.77780158 7.38901764] [ 0. 0. 0. 1. ]] SLAMing on 12.594206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.58, Y:0.33, Z:7.00 [[ 0.20602135 -0.87711206 0.4338544 2.58397513] [-0.96903815 -0.12121077 0.21511161 0.33235461] [-0.13608916 -0.46473905 -0.87492706 7.00495195] [ 0. 0. 0. 1. ]] SLAMing on 12.624206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.47, Z:6.78 [[ 0.87406118 0.43794505 0.21028836 2.30382513] [ 0.46525961 -0.87917498 -0.10288269 -0.46878952] [ 0.1398233 0.18776445 -0.97221086 6.77535805] [ 0. 0. 0. 1. ]] SLAMing on 12.654206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.17, Z:7.15 [[-0.7543124 -0.05785537 0.65396144 3.18581791] [-0.06483077 0.99780501 0.01349579 -0.17383007] [-0.6533068 -0.03221678 -0.7564075 7.14649611] [ 0. 0. 0. 1. ]] SLAMing on 12.684206098999999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:2.55, Y:0.24, Z:6.70 [[ 0.45862721 -0.79632919 0.3943614 2.54898724] [-0.886202 -0.37709313 0.26915941 0.23849856] [-0.06562852 -0.47292769 -0.87865369 6.69908692] [ 0. 0. 0. 1. ]] SLAMing on 12.714206098999998 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:2.54, Y:0.20, Z:6.54 [[ 0.51922679 -0.73781873 0.43130855 2.54057775] [-0.85418733 -0.43165981 0.28988586 0.20290417] [-0.02770465 -0.5189348 -0.85436475 6.54299369] [ 0. 0. 0. 1. ]] SLAMing on 12.744206099 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.20, Z:6.86 [[-0.66647517 -0.07122129 0.74211749 3.21614195] [-0.05282887 0.99743578 0.04828014 -0.20071318] [-0.74365311 -0.00702771 -0.66852873 6.85652538] [ 0. 0. 0. 1. ]] SLAMing on 12.774206098999999 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:2.65, Y:0.23, Z:6.37 [[ 0.4392272 -0.73885536 0.51105012 2.65438926] [-0.89628681 -0.32162244 0.30533419 0.23067129] [-0.06123261 -0.59215856 -0.80349163 6.37270037] [ 0. 0. 0. 1. ]] SLAMing on 12.804206098999998 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:2.67, Y:0.20, Z:6.24 [[ 0.48709192 -0.68151759 0.54614581 2.67022785] [-0.87272383 -0.35613895 0.33394335 0.20483923] [-0.03308447 -0.63929557 -0.76824904 6.23952723] [ 0. 0. 0. 1. ]] SLAMing on 12.834206099 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.71, Z:6.07 [[ 0.50716055 0.71570809 0.48015633 2.76646564] [ 0.84004641 -0.53503341 -0.08978463 -0.71321012] [ 0.19264009 0.44888882 -0.87257585 6.0655659 ] [ 0. 0. 0. 1. ]] SLAMing on 12.864206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.21, Z:6.54 [[-0.60466699 -0.14507871 0.78315388 3.38371191] [-0.06956967 0.98913301 0.129522 -0.21223069] [-0.79343424 0.02383392 -0.60818916 6.53696455] [ 0. 0. 0. 1. ]] SLAMing on 12.894206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.85, Y:0.20, Z:6.05 [[ 0.47168342 -0.68867768 0.55067032 2.85145914] [-0.87594952 -0.29433844 0.38220063 0.20192091] [-0.1011296 -0.6626371 -0.74208145 6.04536972] [ 0. 0. 0. 1. ]] SLAMing on 12.924206099 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.52, Z:5.70 [[ 0.78606725 0.44819495 0.42569891 2.79000572] [ 0.45330187 -0.88617574 0.09596862 -0.52420633] [ 0.42025669 0.11753232 -0.89976134 5.69734084] [ 0. 0. 0. 1. ]] SLAMing on 12.954206098999999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.68, Z:6.06 [[-0.34285713 0.64903992 0.67911426 3.48767448] [ 0.85528245 0.51466741 -0.06007827 -0.67706268] [-0.38851117 0.56023624 -0.73156984 6.06119387] [ 0. 0. 0. 1. ]] SLAMing on 12.984206098999998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.09, Z:6.22 [[-0.57746037 -0.32484025 0.74901157 3.63709692] [-0.24204758 0.94430707 0.22292854 -0.08625986] [-0.77971308 -0.05256404 -0.62392671 6.22281489] [ 0. 0. 0. 1. ]] SLAMing on 13.014206098999999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.14, Z:6.19 [[-0.61043702 -0.23026333 0.75785582 3.67725762] [-0.13244484 0.9730132 0.18895418 -0.13618037] [-0.78091294 0.01497053 -0.62446046 6.18677755] [ 0. 0. 0. 1. ]] SLAMing on 13.044206098999998 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:3.16, Y:0.26, Z:5.73 [[ 0.44421018 -0.71646549 0.53791683 3.15541514] [-0.88015987 -0.23685317 0.41136258 0.26195222] [-0.16731978 -0.65618426 -0.73581676 5.72509845] [ 0. 0. 0. 1. ]] SLAMing on 13.074206098999998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:3.19, Y:0.26, Z:5.59 [[ 0.45942143 -0.66954117 0.58364935 3.18961946] [-0.87535941 -0.22989206 0.42531817 0.26420424] [-0.15059167 -0.70630323 -0.69170651 5.58940539] [ 0. 0. 0. 1. ]] SLAMing on 13.104206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.35, Z:5.16 [[ 0.83235307 0.31174834 0.45825903 3.09376728] [ 0.24208939 -0.94826786 0.20537966 -0.35055324] [ 0.49857907 -0.06000874 -0.86476463 5.15924256] [ 0. 0. 0. 1. ]] SLAMing on 13.134206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.11, Z:5.85 [[-0.46614257 -0.36450211 0.80613232 3.79882764] [-0.19200444 0.93114587 0.31000269 -0.1052152 ] [-0.86362341 -0.01027554 -0.50403275 5.85038262] [ 0. 0. 0. 1. ]] SLAMing on 13.164206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.05, Z:5.78 [[-0.44459965 -0.3775426 0.81227627 3.84078784] [-0.22928498 0.92458807 0.30424546 -0.05307843] [-0.86588657 -0.05097532 -0.49763638 5.78371373] [ 0. 0. 0. 1. ]] SLAMing on 13.194206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.44, Y:0.31, Z:5.35 [[ 0.39800948 -0.65459871 0.64271999 3.44484287] [-0.87411574 -0.05798759 0.48224383 0.30607988] [-0.27840641 -0.75374928 -0.59527464 5.34508144] [ 0. 0. 0. 1. ]] SLAMing on 13.224206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.09, Z:4.84 [[ 0.85327954 0.05987249 0.51800512 3.30368538] [-0.16030436 -0.91516284 0.3698371 -0.0916718 ] [ 0.49620211 -0.39861291 -0.77129191 4.83637748] [ 0. 0. 0. 1. ]] SLAMing on 13.254206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.64, Z:4.89 [[ 0.22493699 0.74599643 0.62681152 3.76025435] [ 0.92268307 -0.36982242 0.10902903 -0.6403612 ] [ 0.31314422 0.55382371 -0.77150502 4.88813188] [ 0. 0. 0. 1. ]] SLAMing on 13.284206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.03, Z:5.49 [[-3.99787355e-01 -4.45937713e-01 8.00818098e-01 4.11137825e+00] [-2.00093829e-01 8.95063530e-01 3.98526959e-01 -2.81667667e-02] [-8.94501275e-01 -9.12720843e-04 -4.47064466e-01 5.49078103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.314206098999998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:3.64, Y:0.30, Z:4.99 [[ 0.59878822 -0.55303003 0.57931896 3.6401011 ] [-0.77970678 -0.23719541 0.57947879 0.30302888] [-0.18305738 -0.798684 -0.57323108 4.99014832] [ 0. 0. 0. 1. ]] SLAMing on 13.344206098999999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.56, Z:4.94 [[-0.23839894 0.60910848 0.75640783 4.19960613] [ 0.96080185 0.26141726 0.09230824 -0.55714763] [-0.14151233 0.74876423 -0.64755416 4.94146151] [ 0. 0. 0. 1. ]] SLAMing on 13.374206098999998 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:3.81, Y:0.38, Z:4.83 [[ 0.59757117 -0.5534411 0.58018242 3.80663257] [-0.78148039 -0.24007487 0.57589275 0.38372933] [-0.1794355 -0.79753809 -0.57596519 4.83299382] [ 0. 0. 0. 1. ]] SLAMing on 13.404206098999998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.06, Z:4.35 [[ 0.82262813 0.27510886 0.49759228 3.79375441] [ 0.0406989 -0.9013956 0.43107954 -0.05554205] [ 0.56712129 -0.3343667 -0.75271001 4.35085525] [ 0. 0. 0. 1. ]] SLAMing on 13.434206098999999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.49, Z:4.45 [[ 0.06987927 0.76459614 0.64071025 4.31514924] [ 0.94433153 -0.25769441 0.20452764 -0.48809753] [ 0.32148849 0.59075065 -0.74003974 4.44566727] [ 0. 0. 0. 1. ]] SLAMing on 13.464206098999998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:4.56, Y:0.17, Z:5.05 [[-3.35105470e-01 -5.52620645e-01 7.63095503e-01 4.56259138e+00] [-2.26640784e-01 8.33423087e-01 5.04023724e-01 1.65477399e-01] [-9.14515325e-01 -4.04745595e-03 -4.04531012e-01 5.05043104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.494206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.58, Y:0.28, Z:4.97 [[-0.26474852 -0.5789788 0.77116261 4.58408455] [-0.30589496 0.80881961 0.50223412 0.27725993] [-0.91451435 -0.10292901 -0.39124049 4.97435396] [ 0. 0. 0. 1. ]] SLAMing on 13.524206098999999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:4.18, Y:0.55, Z:4.51 [[ 0.60526223 -0.55417475 0.57144377 4.17625298] [-0.74839078 -0.15154871 0.64571218 0.54800547] [-0.27123582 -0.81848845 -0.50646598 4.51383063] [ 0. 0. 0. 1. ]] SLAMing on 13.554206098999998 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:4.16, Y:0.14, Z:3.99 [[ 0.81966006 0.30427821 0.48535776 4.16305528] [ 0.02365776 -0.86452559 0.50203169 0.14294174] [ 0.57236151 -0.40001285 -0.71581564 3.98544606] [ 0. 0. 0. 1. ]] SLAMing on 13.584206099 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.29, Z:4.05 [[ 0.04784207 0.76607937 0.64096297 4.69110389] [ 0.92020398 -0.28339191 0.27002531 -0.28842819] [ 0.38850454 0.5768981 -0.71850734 4.05325006] [ 0. 0. 0. 1. ]] SLAMing on 13.614206098999999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:4.90, Y:0.34, Z:4.72 [[-0.27666133 -0.600691 0.75008588 4.89671355] [-0.19978464 0.79945166 0.56653609 0.34495848] [-0.93997053 0.00688299 -0.34118619 4.71731216] [ 0. 0. 0. 1. ]] SLAMing on 13.644206098999998 meters Centerline goodness : 0.999930 Centerline is valid? [True, True] Translation: X:4.49, Y:0.66, Z:4.34 [[ 0.5748792 -0.60143151 0.55479189 4.49203263] [-0.69705271 -0.00487752 0.7170033 0.66166558] [-0.42852237 -0.79890947 -0.42203345 4.34126118] [ 0. 0. 0. 1. ]] SLAMing on 13.674206099 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:4.43, Y:0.37, Z:3.76 [[ 0.85917311 0.23718968 0.45339014 4.43206938] [-0.11130543 -0.77822123 0.61804758 0.36769822] [ 0.49943234 -0.58147465 -0.64222626 3.76147115] [ 0. 0. 0. 1. ]] SLAMing on 13.704206098999999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.08, Z:3.70 [[ 0.13016089 0.79123433 0.59750011 4.93279355] [ 0.81779559 -0.42640352 0.38651056 -0.08146086] [ 0.56059657 0.43832439 -0.70256901 3.69635908] [ 0. 0. 0. 1. ]] SLAMing on 13.734206098999998 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:5.18, Y:0.53, Z:4.45 [[-0.24173452 -0.61571173 0.74997566 5.17540293] [-0.14511641 0.78714528 0.5994527 0.53364971] [-0.95942986 0.03607463 -0.27963006 4.44788186] [ 0. 0. 0. 1. ]] SLAMing on 13.764206098999999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:5.18, Y:0.58, Z:4.42 [[-0.20638792 -0.63906964 0.7409413 5.18079899] [-0.18871552 0.76902541 0.6107261 0.57797347] [-0.9600992 -0.01378063 -0.27931992 4.42499065] [ 0. 0. 0. 1. ]] SLAMing on 13.794206098999998 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:5.08, Y:0.81, Z:4.31 [[ 0.06731036 -0.6949117 0.71593788 5.07808736] [-0.44516764 0.62126296 0.64487061 0.8066285 ] [-0.89291382 -0.36211884 -0.26753477 4.30864041] [ 0. 0. 0. 1. ]] SLAMing on 13.824206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.74, Y:0.89, Z:3.67 [[ 0.84402167 -0.1745784 0.5070994 4.73668402] [-0.52481343 -0.46357605 0.71391044 0.88625542] [ 0.11044579 -0.86868846 -0.48288932 3.66986638] [ 0. 0. 0. 1. ]] SLAMing on 13.854206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.81, Y:0.92, Z:3.55 [[ 0.84714331 -0.11921637 0.51781818 4.8141923 ] [-0.51380775 -0.43221657 0.74107384 0.92450908] [ 0.13546147 -0.89385474 -0.42740367 3.55302036] [ 0. 0. 0. 1. ]] SLAMing on 13.884206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.89, Y:0.97, Z:3.45 [[ 0.84899987 -0.06384624 0.52452157 4.89441307] [-0.50361081 -0.39821573 0.76668141 0.96534341] [ 0.15992301 -0.91506715 -0.37023877 3.44610878] [ 0. 0. 0. 1. ]] SLAMing on 13.914206098999998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:4.97, Y:1.01, Z:3.35 [[ 0.84958972 -0.00818162 0.52738067 4.9742269 ] [-0.49433259 -0.36104095 0.79074947 1.00947052] [ 0.1839364 -0.93251407 -0.31078112 3.35065594] [ 0. 0. 0. 1. ]] SLAMing on 13.944206098999999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:5.75, Y:0.39, Z:3.66 [[-0.44189775 0.07266113 0.89411786 5.74890487] [ 0.82683306 0.41959903 0.37454472 0.38791105] [-0.34795614 0.90479667 -0.24549849 3.65546851] [ 0. 0. 0. 1. ]] SLAMing on 13.974206098999998 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:5.84, Y:0.48, Z:3.67 [[-0.4447868 0.12626779 0.88669112 5.8391751 ] [ 0.8202474 0.45499222 0.34666452 0.48128347] [-0.359665 0.88149789 -0.30594536 3.67084132] [ 0. 0. 0. 1. ]] SLAMing on 14.004206099 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:5.66, Y:1.00, Z:3.99 [[-0.06349368 -0.61217262 0.78817082 5.66266514] [-0.10027159 0.78968113 0.60526798 0.99691499] [-0.9929321 -0.04060045 -0.11152328 3.99199357] [ 0. 0. 0. 1. ]] SLAMing on 14.034206098999999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:5.31, Y:1.35, Z:3.53 [[ 7.12354848e-01 -3.73811403e-01 5.93982832e-01 5.31025684e+00] [-6.39885834e-01 1.68828597e-03 7.68468131e-01 1.34695025e+00] [-2.88264963e-01 -9.27503199e-01 -2.37993963e-01 3.52511105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.064206098999998 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:5.41, Y:1.07, Z:2.94 [[ 0.71416647 0.42853751 0.55346351 5.4139889 ] [-0.08348343 -0.73289952 0.67519538 1.07181015] [ 0.69497969 -0.52840693 -0.48763648 2.94271364] [ 0. 0. 0. 1. ]] SLAMing on 14.094206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.94, Y:0.65, Z:3.00 [[-0.07129001 0.68135678 0.72847147 5.94275512] [ 0.80012228 -0.39701971 0.44964396 0.64812528] [ 0.59558549 0.61492137 -0.5168652 2.999798 ] [ 0. 0. 0. 1. ]] SLAMing on 14.124206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.95, Y:1.14, Z:3.83 [[-0.02858225 -0.6765717 0.73582185 5.94881403] [-0.04974665 0.73617322 0.67496242 1.13707366] [-0.99835281 -0.01731272 -0.05469866 3.83231121] [ 0. 0. 0. 1. ]] SLAMing on 14.154206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.96, Y:1.17, Z:3.82 [[-4.90316662e-03 -6.82072729e-01 7.31267907e-01 5.96235632e+00] [-7.10889927e-02 7.29664256e-01 6.80100308e-01 1.17356354e+00] [-9.97457926e-01 -4.86504538e-02 -5.20655287e-02 3.81777448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.184206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.99, Y:1.20, Z:3.81 [[-0.00964993 -0.68108179 0.73214375 5.98948632] [-0.06905628 0.7308837 0.67899944 1.1965181 ] [-0.99756609 -0.04400682 -0.05408595 3.80589437] [ 0. 0. 0. 1. ]] SLAMing on 14.214206098999998 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:6.02, Y:1.21, Z:3.79 [[-4.32573550e-02 -6.74912442e-01 7.36628805e-01 6.02227780e+00] [-4.42424141e-02 7.37889720e-01 6.73469650e-01 1.20588737e+00] [-9.98083869e-01 -3.45772088e-03 -6.17789134e-02 3.78831744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.244206098999998 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:5.64, Y:1.54, Z:3.27 [[ 0.8065744 -0.27572577 0.52288912 5.64332437] [-0.55890077 -0.06760624 0.82647403 1.53599463] [-0.19252962 -0.95885593 -0.20863281 3.27384002] [ 0. 0. 0. 1. ]] SLAMing on 14.274206098999999 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] Translation: X:5.71, Y:1.61, Z:3.19 [[ 0.80764796 -0.22849658 0.54359367 5.71044181] [-0.56215794 -0.02008844 0.82678589 1.60618921] [-0.1779978 -0.97333744 -0.14467556 3.18994054] [ 0. 0. 0. 1. ]] SLAMing on 14.304206098999998 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:6.44, Y:0.92, Z:3.11 [[-0.42572038 0.29253201 0.8562635 6.4445588 ] [ 0.90277794 0.07323856 0.42382555 0.91936661] [ 0.06127103 0.95344698 -0.2952706 3.10700953] [ 0. 0. 0. 1. ]] SLAMing on 14.334206098999998 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:6.24, Y:1.43, Z:3.64 [[ 2.57422526e-02 -6.63693278e-01 7.47561750e-01 6.23645385e+00] [-2.39574307e-02 7.47185202e-01 6.64183947e-01 1.43353931e+00] [-9.99381498e-01 -3.50072497e-02 3.33384450e-03 3.63914406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.364206098999999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:6.27, Y:1.45, Z:3.63 [[ 1.22041520e-02 -6.60742260e-01 7.50513640e-01 6.26691783e+00] [-1.06932817e-02 7.50440376e-01 6.60851644e-01 1.44853991e+00] [-9.99868348e-01 -1.60905877e-02 2.09298526e-03 3.62779090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.394206098999998 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:5.93, Y:1.80, Z:3.13 [[ 8.01432172e-01 -2.38460053e-01 5.48491820e-01 5.92954734e+00] [-5.65257744e-01 -2.34335097e-03 8.24911020e-01 1.80474920e+00] [-1.95423017e-01 -9.71149480e-01 -1.36669429e-01 3.12750214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.424206099 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:5.99, Y:1.88, Z:3.05 [[ 0.7992415 -0.1922915 0.56941812 5.99269112] [-0.572929 0.04245066 0.81850492 1.87903447] [-0.18156371 -0.98041926 -0.07624105 3.04966365] [ 0. 0. 0. 1. ]] SLAMing on 14.454206098999999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:6.24, Y:1.65, Z:2.49 [[ 0.54704613 0.59013632 0.59369998 6.24216855] [-0.07545936 -0.67158052 0.73707903 1.64641408] [ 0.83369444 -0.44801645 -0.32285421 2.48668596] [ 0. 0. 0. 1. ]] SLAMing on 14.484206098999998 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:6.84, Y:1.23, Z:2.82 [[-0.42655971 0.35031892 0.83386058 6.84096134] [ 0.86095108 -0.1252346 0.49303097 1.22517981] [ 0.27714627 0.92822031 -0.24818742 2.82083276] [ 0. 0. 0. 1. ]] SLAMing on 14.514206098999999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:6.59, Y:1.68, Z:3.47 [[ 0.09310171 -0.70332132 0.70474902 6.59129477] [ 0.05057431 0.71025024 0.70213022 1.67825925] [-0.99437131 -0.02972733 0.1016955 3.4725101 ] [ 0. 0. 0. 1. ]] SLAMing on 14.544206098999998 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:6.62, Y:1.70, Z:3.47 [[ 0.08842997 -0.7030258 0.705645 6.6170927 ] [ 0.0532931 0.71074491 0.7014282 1.70254276] [-0.99465571 -0.02442127 0.10031757 3.46862455] [ 0. 0. 0. 1. ]] SLAMing on 14.574206098999998 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:6.64, Y:1.73, Z:3.46 [[ 0.08752294 -0.70235987 0.7064208 6.6403415 ] [ 0.05204494 0.71139767 0.70085996 1.72694179] [-0.99480202 -0.0245757 0.09881789 3.46242606] [ 0. 0. 0. 1. ]] SLAMing on 14.604206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.67, Y:1.75, Z:3.46 [[ 0.08044717 -0.70232808 0.70729309 6.66795614] [ 0.05612087 0.71165885 0.70028003 1.7498365 ] [-0.99517772 -0.01664164 0.0966662 3.45861538] [ 0. 0. 0. 1. ]] SLAMing on 14.634206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.69, Y:1.78, Z:3.45 [[ 0.08052059 -0.70152743 0.70807888 6.69385896] [ 0.05602003 0.71244777 0.69948547 1.7765914 ] [-0.99517747 -0.01665638 0.0966663 3.4525302 ] [ 0. 0. 0. 1. ]] SLAMing on 14.664206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.72, Y:1.80, Z:3.45 [[ 0.07340028 -0.70022759 0.71013641 6.71989858] [ 0.05290951 0.71378848 0.69835993 1.80101236] [-0.99589808 -0.01368684 0.08944097 3.45108096] [ 0. 0. 0. 1. ]] SLAMing on 14.694206098999999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:7.07, Y:1.44, Z:2.79 [[-0.40832801 0.43238721 0.80393379 7.07364116] [ 0.85504879 -0.12720162 0.502704 1.44207544] [ 0.31962446 0.89267074 -0.31777218 2.79047244] [ 0. 0. 0. 1. ]] SLAMing on 14.724206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.87, Y:1.94, Z:3.46 [[ 0.03442571 -0.71580376 0.6974524 6.87389474] [ 0.01151558 0.69810383 0.71590393 1.93782779] [-0.99934091 -0.01661394 0.03227562 3.46163858] [ 0. 0. 0. 1. ]] SLAMing on 14.754206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.90, Y:1.96, Z:3.45 [[ 0.03402633 -0.71464323 0.69866105 6.89835277] [ 0.01000341 0.69927436 0.71478339 1.96389453] [-0.99937087 -0.01733247 0.03094261 3.45307524] [ 0. 0. 0. 1. ]] SLAMing on 14.784206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.92, Y:1.99, Z:3.45 [[ 0.03293166 -0.7138455 0.69952849 6.92369317] [ 0.01085486 0.70012229 0.71394044 1.99040189] [-0.99939866 -0.01591796 0.03080488 3.44585385] [ 0. 0. 0. 1. ]] SLAMing on 14.814206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.95, Y:2.02, Z:3.44 [[ 0.03298187 -0.71295936 0.70042926 6.94850472] [ 0.00800952 0.70097658 0.71313932 2.01778386] [-0.99942386 -0.01791057 0.02882998 3.43811043] [ 0. 0. 0. 1. ]] SLAMing on 14.844206098999999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:6.97, Y:2.04, Z:3.43 [[ 0.02876286 -0.71222128 0.70136549 6.97458068] [ 0.01024903 0.70182904 0.71227169 2.04321308] [-0.99953372 -0.01329866 0.02748619 3.43061772] [ 0. 0. 0. 1. ]] SLAMing on 14.874206098999998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:7.00, Y:2.07, Z:3.42 [[ 0.02690724 -0.71137272 0.70229969 6.99991117] [ 0.00949439 0.70270424 0.71141873 2.06916756] [-0.99959285 -0.01247441 0.02566188 3.42236195] [ 0. 0. 0. 1. ]] SLAMing on 14.904206098999998 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:7.03, Y:2.10, Z:3.41 [[ 0.02598402 -0.71021155 0.70350863 7.02568522] [ 0.00861862 0.70387924 0.71026736 2.09682498] [-0.9996252 -0.01239233 0.02441065 3.41478619] [ 0. 0. 0. 1. ]] SLAMing on 14.934206098999999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:7.05, Y:2.12, Z:3.41 [[ 2.64068305e-02 -7.09289072e-01 7.04422949e-01 7.05031966e+00] [ 6.43460102e-03 7.04774688e-01 7.09402026e-01 2.12430666e+00] [-9.99630569e-01 -1.42003784e-02 2.31748579e-02 3.40831743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.964206098999998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:7.07, Y:2.15, Z:3.40 [[ 2.92972038e-02 -7.08317196e-01 7.05286058e-01 7.07456357e+00] [ 3.43480170e-03 7.05656110e-01 7.08546157e-01 2.15127444e+00] [-9.99564843e-01 -1.83359034e-02 2.31066800e-02 3.39950777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.994206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.10, Y:2.18, Z:3.39 [[ 2.53490127e-02 -7.07575947e-01 7.06182489e-01 7.10141288e+00] [ 6.83315270e-03 7.06515623e-01 7.07664456e-01 2.17606053e+00] [-9.99655308e-01 -1.31131425e-02 2.27444480e-02 3.39274250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.024206098999999 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:7.13, Y:2.20, Z:3.38 [[ 1.70791245e-02 -7.03815728e-01 7.10177249e-01 7.12932826e+00] [ 1.41772067e-02 7.10379912e-01 7.03675627e-01 2.19536810e+00] [-9.99753625e-01 -1.94983396e-03 2.21108080e-02 3.38343656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.054206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.76, Y:2.55, Z:2.84 [[ 0.84125219 -0.16684358 0.51425477 6.76498656] [-0.5272876 -0.04308481 0.84859383 2.55343583] [-0.11942587 -0.98504158 -0.12421974 2.83562559] [ 0. 0. 0. 1. ]] SLAMing on 15.084206098999998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:7.08, Y:2.28, Z:2.28 [[ 0.47626709 0.68180843 0.55525392 7.08322499] [ 0.0617504 -0.65584763 0.75236346 2.27967347] [ 0.87712972 -0.3240388 -0.35446059 2.2782241 ] [ 0. 0. 0. 1. ]] SLAMing on 15.114206098999999 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:7.66, Y:1.97, Z:2.56 [[-0.44122074 0.48044331 0.75795678 7.65558928] [ 0.79792889 -0.1764619 0.57634251 1.96567513] [ 0.4106504 0.85908988 -0.30550095 2.56032377] [ 0. 0. 0. 1. ]] SLAMing on 15.144206098999998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:7.44, Y:2.39, Z:3.29 [[ 0.00852129 -0.75728463 0.65302938 7.43593809] [ 0.0742515 0.65172942 0.75480824 2.38677467] [-0.99720314 0.04205648 0.06178309 3.2864649 ] [ 0. 0. 0. 1. ]] SLAMing on 15.174206098999997 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:7.44, Y:2.47, Z:3.27 [[ 0.0808931 -0.75979333 0.64511271 7.43816002] [ 0.0181036 0.64824708 0.76121481 2.47439431] [-0.99655836 -0.04989816 0.06619371 3.2699716 ] [ 0. 0. 0. 1. ]] SLAMing on 15.204206098999999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:7.35, Y:2.67, Z:3.20 [[ 0.31125351 -0.70820251 0.63369587 7.35326832] [-0.15676885 0.61941966 0.76924821 2.66741163] [-0.9373072 -0.33877498 0.08177245 3.19919533] [ 0. 0. 0. 1. ]] SLAMing on 15.234206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.13, Y:2.89, Z:2.54 [[ 0.87010201 0.09924481 0.48277631 7.13371973] [-0.45740075 -0.20227536 0.8659499 2.88621248] [ 0.18359478 -0.97428699 -0.13060555 2.54461847] [ 0. 0. 0. 1. ]] SLAMing on 15.264206098999999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:7.62, Y:2.53, Z:2.14 [[ 0.1657948 0.77973008 0.60376576 7.62189195] [ 0.29800339 -0.6232296 0.72303447 2.52917655] [ 0.94005642 0.06004888 -0.33569043 2.14079872] [ 0. 0. 0. 1. ]] SLAMing on 15.294206098999998 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:7.66, Y:2.66, Z:3.16 [[ 0.1176646 -0.77087783 0.6260211 7.66262209] [ 0.11093258 0.63665798 0.76312553 2.66203279] [-0.98683788 -0.02034672 0.16042757 3.16066906] [ 0. 0. 0. 1. ]] SLAMing on 15.324206098999998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:7.68, Y:2.69, Z:3.16 [[ 0.12104743 -0.7699027 0.62657589 7.68386684] [ 0.11098249 0.6377566 0.76220037 2.69053858] [-0.98642304 -0.02272345 0.16264452 3.15513604] [ 0. 0. 0. 1. ]] SLAMing on 15.354206098999999 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:7.71, Y:2.72, Z:3.15 [[ 0.12224146 -0.7690593 0.62737933 7.70535312] [ 0.10972049 0.63871687 0.76157874 2.71884887] [-0.98641697 -0.02426013 0.16245925 3.15160956] [ 0. 0. 0. 1. ]] SLAMing on 15.384206098999998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:7.73, Y:2.75, Z:3.15 [[ 0.12233612 -0.768467 0.62808626 7.7277135 ] [ 0.10961295 0.63942972 0.76099582 2.74693641] [-0.98641719 -0.02425089 0.16245928 3.14835921] [ 0. 0. 0. 1. ]] SLAMing on 15.414206098999998 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:7.75, Y:2.77, Z:3.14 [[ 0.12216938 -0.76804517 0.62863444 7.75066296] [ 0.11231493 0.64000876 0.76011456 2.77418489] [-0.98613386 -0.0222577 0.16445241 3.14411511] [ 0. 0. 0. 1. ]] SLAMing on 15.444206098999999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:7.79, Y:2.79, Z:3.14 [[ 0.09548608 -0.76672203 0.63483836 7.78555594] [ 0.13304571 0.64186038 0.75519142 2.78886821] [-0.98649949 0.01235225 0.16329781 3.13865965] [ 0. 0. 0. 1. ]] SLAMing on 15.474206098999998 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:7.80, Y:2.86, Z:3.13 [[ 0.14259905 -0.76407128 0.62917453 7.79806425] [ 0.10088551 0.64358031 0.75870054 2.85957615] [-0.98462563 -0.04471538 0.16885766 3.12772998] [ 0. 0. 0. 1. ]] SLAMing on 15.504206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.47, Y:3.23, Z:2.59 [[ 0.896649 -0.07718867 0.43596155 7.47074174] [-0.43281601 0.05451854 0.89983222 3.23064841] [-0.09322484 -0.99552481 0.0154755 2.591506 ] [ 0. 0. 0. 1. ]] SLAMing on 15.534206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.32, Y:2.65, Z:2.57 [[-5.63921283e-01 1.27716480e-01 8.15892939e-01 8.31575778e+00] [ 8.22943642e-01 4.39856498e-03 5.68105989e-01 2.65175981e+00] [ 6.89677389e-02 9.91800965e-01 -1.07583909e-01 2.56778972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.564206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.99, Y:3.04, Z:3.11 [[ 0.10500923 -0.75570392 0.64643998 7.98551796] [ 0.14128168 0.65477712 0.74250011 3.04390328] [-0.98438435 0.01336076 0.17552476 3.11197755] [ 0. 0. 0. 1. ]] SLAMing on 15.594206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.00, Y:3.12, Z:3.10 [[ 0.15793767 -0.75121279 0.64088613 7.99833243] [ 0.1014782 0.65794355 0.74619867 3.1222881 ] [-0.98222089 -0.0528169 0.18014579 3.1025598 ] [ 0. 0. 0. 1. ]] SLAMing on 15.624206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.69, Y:3.49, Z:2.63 [[ 0.87183361 -0.16048649 0.4627637 7.6877015 ] [-0.44350652 0.14229871 0.88490284 3.49468348] [-0.20786563 -0.97672676 0.05288399 2.63275896] [ 0. 0. 0. 1. ]] SLAMing on 15.654206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.09, Y:3.27, Z:2.02 [[ 0.33033517 0.77054728 0.54510143 8.08547162] [ 0.05689723 -0.59272757 0.80339077 3.27356303] [ 0.94214722 -0.23437346 -0.23964077 2.01681231] [ 0. 0. 0. 1. ]] SLAMing on 15.684206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.17, Y:3.24, Z:3.02 [[ 0.18666029 -0.7816565 0.59512272 8.17273216] [ 0.1944894 0.62318144 0.75750826 3.2356801 ] [-0.96298069 -0.02565165 0.26834714 3.0234417 ] [ 0. 0. 0. 1. ]] SLAMing on 15.714206098999998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:8.21, Y:3.25, Z:3.02 [[ 0.14899201 -0.78166826 0.60563695 8.2127899 ] [ 0.22410038 0.62322893 0.74924276 3.2471529 ] [-0.96310976 0.02409229 0.26802828 3.02011415] [ 0. 0. 0. 1. ]] SLAMing on 15.744206098999998 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:7.88, Y:3.66, Z:2.53 [[ 0.91316119 -0.07299473 0.40100925 7.8791291 ] [-0.38497115 0.16878564 0.90736356 3.65907618] [-0.13391736 -0.98294617 0.12602763 2.52831496] [ 0. 0. 0. 1. ]] SLAMing on 15.774206098999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.30, Y:3.52, Z:1.96 [[ 0.32294242 0.80417568 0.49900868 8.30337089] [-0.02294471 -0.52045242 0.85358234 3.51662234] [ 0.94614044 -0.28710756 -0.14962459 1.95982134] [ 0. 0. 0. 1. ]] SLAMing on 15.804206098999998 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:8.88, Y:3.20, Z:2.38 [[-0.63169531 0.21439435 0.7449806 8.87582369] [ 0.72562061 -0.17468732 0.66555171 3.20258673] [ 0.27282919 0.96099917 -0.04521979 2.38223495] [ 0. 0. 0. 1. ]] SLAMing on 15.834206098999998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:8.46, Y:3.60, Z:3.03 [[ 0.19187336 -0.78865738 0.58412682 8.45534584] [ 0.22167558 0.61463074 0.75702641 3.60110736] [-0.95605677 -0.01576655 0.29275735 3.02789477] [ 0. 0. 0. 1. ]] SLAMing on 15.864206098999999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:8.48, Y:3.63, Z:3.03 [[ 0.19229384 -0.78825724 0.58452853 8.47594611] [ 0.22006693 0.61511234 0.75710459 3.62935845] [-0.95634388 -0.01695115 0.29175167 3.02880714] [ 0. 0. 0. 1. ]] SLAMing on 15.894206098999998 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:8.49, Y:3.66, Z:3.03 [[ 0.19498061 -0.78747593 0.58469156 8.49493542] [ 0.22084301 0.61607369 0.75609627 3.65599325] [-0.9556207 -0.01829907 0.29403098 3.02884291] [ 0. 0. 0. 1. ]] SLAMing on 15.924206098999997 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:8.51, Y:3.68, Z:3.03 [[ 0.19514659 -0.78701467 0.58525696 8.51497638] [ 0.22069643 0.6166628 0.7556587 3.68286371] [-0.95562069 -0.0183001 0.29403097 3.0299159 ] [ 0. 0. 0. 1. ]] SLAMing on 15.954206098999999 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:8.54, Y:3.71, Z:3.03 [[ 0.19403501 -0.78679674 0.5859192 8.53507582] [ 0.22068377 0.61697044 0.75541124 3.70892672] [-0.95584993 -0.01727337 0.29334714 3.03084312] [ 0. 0. 0. 1. ]] SLAMing on 15.984206098999998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:8.55, Y:3.74, Z:3.03 [[ 0.19692562 -0.78543106 0.58678646 8.55289522] [ 0.21582025 0.618553 0.75552221 3.73846138] [-0.95636913 -0.02214128 0.29132086 3.03074787] [ 0. 0. 0. 1. ]] SLAMing on 16.014206099 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:8.58, Y:3.75, Z:3.03 [[ 1.75768239e-01 -7.85098747e-01 5.93906966e-01 8.58321517e+00] [ 2.33272567e-01 6.19333575e-01 7.49673150e-01 3.75426183e+00] [-9.56393975e-01 6.77347349e-03 2.92001172e-01 3.03018433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.044206098999997 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:8.26, Y:4.17, Z:2.47 [[ 0.91977728 0.05634261 0.38837516 8.2636785 ] [-0.39221547 0.09844729 0.91459016 4.16641948] [ 0.01329592 -0.99354599 0.11264803 2.46913816] [ 0. 0. 0. 1. ]] SLAMing on 16.074206098999998 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:8.34, Y:4.26, Z:2.42 [[ 0.91755952 0.09847095 0.38521163 8.33578323] [-0.39640786 0.15164537 0.90546369 4.26354364] [ 0.03074631 -0.98351774 0.17817831 2.41643455] [ 0. 0. 0. 1. ]] SLAMing on 16.104206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.19, Y:3.71, Z:2.49 [[-0.60169946 -0.04565544 0.79741667 9.18571409] [ 0.79772854 -0.08414415 0.59711719 3.70624803] [ 0.0398363 0.99540712 0.08705013 2.48727511] [ 0. 0. 0. 1. ]] SLAMing on 16.134206098999996 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:8.76, Y:4.02, Z:3.00 [[ 0.24579404 -0.77640148 0.58033269 8.76303863] [ 0.26089517 0.62959536 0.73180831 4.02046995] [-0.93355182 -0.02846812 0.35731018 2.99588807] [ 0. 0. 0. 1. ]] SLAMing on 16.164206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.78, Y:4.05, Z:3.00 [[ 0.24827423 -0.77583755 0.58003103 8.78201493] [ 0.25663355 0.63006347 0.73291148 4.04774044] [-0.93407662 -0.03310762 0.35553447 2.99931973] [ 0. 0. 0. 1. ]] SLAMing on 16.194206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.80, Y:4.07, Z:3.00 [[ 0.24948391 -0.77488774 0.58078117 8.80157535] [ 0.25364663 0.63109704 0.73306201 4.07436436] [-0.93457004 -0.03557398 0.35399622 3.00323845] [ 0. 0. 0. 1. ]] SLAMing on 16.224206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.82, Y:4.10, Z:3.01 [[ 0.25046457 -0.77412192 0.58138004 8.8215066 ] [ 0.25314224 0.63199583 0.73246179 4.10176241] [-0.93444449 -0.03628388 0.35425552 3.0068729 ] [ 0. 0. 0. 1. ]] SLAMing on 16.254206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.84, Y:4.13, Z:3.01 [[ 0.25192108 -0.77335679 0.5817689 8.84182936] [ 0.25283599 0.63287482 0.73180833 4.12826455] [-0.93413582 -0.03726583 0.35496694 3.00942983] [ 0. 0. 0. 1. ]] SLAMing on 16.284206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.86, Y:4.16, Z:3.01 [[ 0.25213612 -0.77279458 0.58242246 8.86257296] [ 0.25261958 0.63356197 0.7312883 4.15545437] [-0.93413635 -0.03725288 0.3549669 3.01298596] [ 0. 0. 0. 1. ]] SLAMing on 16.314206099 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:8.88, Y:4.18, Z:3.02 [[ 0.25117574 -0.77267971 0.58298955 8.8823392 ] [ 0.25324202 0.63377767 0.730886 4.18105676] [-0.93422654 -0.03594338 0.35486455 3.01729857] [ 0. 0. 0. 1. ]] SLAMing on 16.344206098999997 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:8.90, Y:4.21, Z:3.02 [[ 0.25167542 -0.77209413 0.5835496 8.90165473] [ 0.2526899 0.63446565 0.73048008 4.20827491] [-0.93424156 -0.03638679 0.3547798 3.02049928] [ 0. 0. 0. 1. ]] SLAMing on 16.374206099 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:8.94, Y:4.22, Z:3.02 [[ 2.24543972e-01 -7.75467273e-01 5.90110594e-01 8.93541872e+00] [ 2.75159477e-01 6.31387624e-01 7.25008228e-01 4.22230560e+00] [-9.34808679e-01 -4.21704400e-04 3.55151454e-01 3.02111567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.404206099 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:8.64, Y:4.65, Z:2.55 [[ 0.91521263 -0.01449868 0.40271035 8.63682155] [-0.38754044 0.24223285 0.88945807 4.64945768] [-0.11044564 -0.97010981 0.21607574 2.55147501] [ 0. 0. 0. 1. ]] SLAMing on 16.434206098999997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:9.13, Y:4.51, Z:1.99 [[ 0.17307846 0.82824972 0.53295989 9.13085132] [-0.0326355 -0.53600655 0.84358278 4.50693302] [ 0.98436719 -0.16339942 -0.06574084 1.98969149] [ 0. 0. 0. 1. ]] SLAMing on 16.464206099 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:9.09, Y:4.35, Z:2.98 [[ 0.27545643 -0.80776042 0.52119753 9.08629503] [ 0.33107831 0.58871765 0.73742707 4.35000115] [-0.90250258 -0.03057183 0.42959802 2.98104995] [ 0. 0. 0. 1. ]] SLAMing on 16.494206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.10, Y:4.38, Z:2.99 [[ 0.27726154 -0.80685048 0.52164963 9.10362849] [ 0.32912006 0.58984622 0.7374018 4.37697363] [-0.90266606 -0.0327678 0.42909235 2.9872977 ] [ 0. 0. 0. 1. ]] SLAMing on 16.524206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.12, Y:4.40, Z:2.99 [[ 0.27793742 -0.80636781 0.52203615 9.12230914] [ 0.32940427 0.59050361 0.73674847 4.40363302] [-0.90235449 -0.03280903 0.42974405 2.99213055] [ 0. 0. 0. 1. ]] SLAMing on 16.554206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.14, Y:4.43, Z:3.00 [[ 0.27864064 -0.8057539 0.52260889 9.14032756] [ 0.32876605 0.59130957 0.73638704 4.43005831] [-0.90237037 -0.03337129 0.4296674 2.99856219] [ 0. 0. 0. 1. ]] SLAMing on 16.584206099 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:9.17, Y:4.45, Z:3.00 [[ 2.52782264e-01 -8.09913610e-01 5.29283545e-01 9.17234451e+00] [ 3.48792176e-01 5.86549160e-01 7.30961080e-01 4.44583290e+00] [-9.02466146e-01 -1.64037476e-04 4.30760755e-01 3.00208991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.614206098999997 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:8.89, Y:4.91, Z:2.46 [[ 0.92792348 0.16279632 0.33534367 8.88838633] [-0.36456437 0.20859965 0.90751254 4.90630933] [ 0.07778713 -0.96435654 0.25291425 2.45786917] [ 0. 0. 0. 1. ]] SLAMing on 16.644206098999998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:9.75, Y:4.38, Z:2.56 [[-0.64290048 -0.11416445 0.75739385 9.75357085] [ 0.76519866 -0.1395092 0.62849678 4.38339072] [ 0.03391142 0.98361764 0.17704902 2.56469306] [ 0. 0. 0. 1. ]] SLAMing on 16.674206099 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:9.00, Y:5.07, Z:2.50 [[ 0.9279214 0.1628472 0.3353247 9.00291241] [-0.36454716 0.2084546 0.90755278 5.0653913 ] [ 0.07789246 -0.96437932 0.25279497 2.50124914] [ 0. 0. 0. 1. ]] SLAMing on 16.704206098999997 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:9.07, Y:5.16, Z:2.47 [[ 0.92322495 0.20186736 0.3269637 9.06851995] [-0.37253634 0.26163201 0.89037372 5.16043253] [ 0.09419322 -0.9438211 0.31674813 2.46917403] [ 0. 0. 0. 1. ]] SLAMing on 16.734206098999998 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:9.13, Y:5.25, Z:2.44 [[ 0.91902416 0.23998165 0.31273535 9.1311728 ] [-0.3784201 0.31486026 0.87043738 5.25171226] [ 0.11042106 -0.91829833 0.38017807 2.44383142] [ 0. 0. 0. 1. ]] SLAMing on 16.764206099 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:9.19, Y:5.35, Z:2.42 [[ 0.91443879 0.27420156 0.29768304 9.18878629] [-0.38493825 0.36208514 0.84895047 5.3460873 ] [ 0.12499694 -0.89090283 0.43665537 2.41780306] [ 0. 0. 0. 1. ]] SLAMing on 16.794206098999997 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:9.25, Y:5.43, Z:2.40 [[ 0.90944602 0.30858422 0.278718 9.24868806] [-0.39159396 0.4101281 0.82368022 5.42728484] [ 0.13986463 -0.85823698 0.49382909 2.3992293 ] [ 0. 0. 0. 1. ]] SLAMing on 16.824206098999998 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:10.08, Y:4.85, Z:2.51 [[-0.64155738 -0.26313574 0.72053016 10.08147921] [ 0.75958612 -0.34886539 0.54892793 4.84719496] [ 0.10692548 0.89947347 0.42369142 2.50968115] [ 0. 0. 0. 1. ]] SLAMing on 16.854206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.33, Y:5.54, Z:2.47 [[ 0.9103883 0.30535906 0.27919344 9.32770268] [-0.39054263 0.41135385 0.82356813 5.54060126] [ 0.1366367 -0.85880373 0.49374747 2.46888334] [ 0. 0. 0. 1. ]] SLAMing on 16.884206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.99, Y:5.45, Z:2.08 [[-0.18749596 0.84111943 0.50730994 9.9933935 ] [-0.18958348 -0.53774634 0.82151505 5.44727736] [ 0.96379633 0.05785317 0.26028761 2.07858389] [ 0. 0. 0. 1. ]] SLAMing on 16.914206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.29, Y:5.04, Z:2.58 [[-0.72177187 -0.1540873 0.67476105 10.29421439] [ 0.66700046 -0.4151705 0.61866296 5.03910302] [ 0.18481277 0.89659944 0.40243468 2.57949303] [ 0. 0. 0. 1. ]] SLAMing on 16.944206099 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:9.77, Y:5.11, Z:3.07 [[ 0.29935381 -0.86550335 0.40161082 9.77009648] [ 0.59931995 0.49808133 0.6266822 5.11346098] [-0.7424304 0.05309367 0.66781597 3.07243441] [ 0. 0. 0. 1. ]] SLAMing on 16.974206098999996 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:9.48, Y:5.67, Z:2.62 [[ 0.95023424 0.23153281 0.2084405 9.48174495] [-0.2958249 0.4607999 0.83675031 5.66852762] [ 0.09768578 -0.85677069 0.50636101 2.62073048] [ 0. 0. 0. 1. ]] SLAMing on 17.004206098999997 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:10.17, Y:5.65, Z:2.21 [[-0.18527268 0.87885825 0.43963873 10.16675152] [-0.21047769 -0.47249173 0.85583334 5.64993958] [ 0.95988186 0.06602839 0.27251986 2.20965301] [ 0. 0. 0. 1. ]] SLAMing on 17.034206099 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:9.94, Y:5.23, Z:3.09 [[ 0.27453956 -0.91053599 0.30911524 9.93929697] [ 0.67390111 0.41150459 0.61361329 5.23163572] [-0.68591933 0.03985198 0.7265855 3.08666328] [ 0. 0. 0. 1. ]] SLAMing on 17.064206099 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:9.92, Y:5.26, Z:3.13 [[ 0.30603932 -0.89481806 0.32502397 9.91886451] [ 0.64149279 0.44608774 0.62409353 5.25703828] [-0.70343936 0.01750337 0.71053972 3.12733244] [ 0. 0. 0. 1. ]] SLAMing on 17.094206098999997 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:9.62, Y:5.81, Z:2.70 [[ 0.97258943 0.19540187 0.12604725 9.61726127] [-0.21361852 0.53670463 0.81628137 5.80592663] [ 0.09185276 -0.82083266 0.56373471 2.70493559] [ 0. 0. 0. 1. ]] SLAMing on 17.124206099 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:10.24, Y:5.91, Z:2.31 [[-0.04217889 0.94485007 0.32477575 10.24179653] [-0.34020761 -0.31922172 0.88450906 5.91274007] [ 0.93940392 -0.07318357 0.33490961 2.30761429] [ 0. 0. 0. 1. ]] SLAMing on 17.154206099 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:10.65, Y:5.47, Z:2.86 [[-0.79918549 -0.23135185 0.55477822 10.65380808] [ 0.5936029 -0.44893892 0.66789928 5.46648553] [ 0.0945418 0.86309337 0.4961166 2.85945862] [ 0. 0. 0. 1. ]] SLAMing on 17.184206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.67, Y:5.52, Z:2.96 [[-0.79295527 -0.21208218 0.57117693 10.66928408] [ 0.60442788 -0.39189283 0.69360432 5.51951321] [ 0.07673903 0.89523246 0.43894187 2.96162485] [ 0. 0. 0. 1. ]] SLAMing on 17.214206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.14, Y:5.54, Z:3.41 [[ 0.22554659 -0.92576654 0.30345519 10.13705146] [ 0.62996158 0.37618918 0.67943367 5.54464581] [-0.74315351 0.03792117 0.66804554 3.4073734 ] [ 0. 0. 0. 1. ]] SLAMing on 17.244206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.77, Y:6.03, Z:3.01 [[ 9.95402378e-01 4.97188961e-02 8.18665840e-02 9.77064427e+00] [-9.57604899e-02 5.34510877e-01 8.39719031e-01 6.03303361e+00] [-2.00867628e-03 -8.43697905e-01 5.36814503e-01 3.01309096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.274206098999997 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:10.32, Y:6.22, Z:2.56 [[ 0.12371222 0.96211205 0.24297261 10.31971113] [-0.33087898 -0.19084588 0.92417366 6.21850225] [ 0.93552894 -0.1947261 0.29473269 2.55873593] [ 0. 0. 0. 1. ]] SLAMing on 17.304206098999998 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:10.87, Y:5.92, Z:2.94 [[-0.84610626 0.19771867 0.49498639 10.86671118] [ 0.34078338 -0.51339078 0.7875891 5.91616077] [ 0.40984252 0.8350672 0.36700392 2.94346704] [ 0. 0. 0. 1. ]] SLAMing on 17.334206099 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:10.33, Y:5.79, Z:3.56 [[ 0.1642161 -0.95735983 0.23768725 10.33159413] [ 0.65980226 0.28572564 0.69499773 5.78711882] [-0.73327625 0.04269677 0.67858893 3.56194114] [ 0. 0. 0. 1. ]] SLAMing on 17.364206098999997 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:9.93, Y:6.26, Z:3.17 [[ 9.99971923e-01 2.60339745e-03 7.02675496e-03 9.92535235e+00] [-7.29685137e-03 5.51717985e-01 8.33998814e-01 6.26099252e+00] [-1.70555670e-03 -8.34026671e-01 5.51721491e-01 3.17444985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.394206098999998 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:10.46, Y:6.51, Z:2.73 [[ 0.14275015 0.97716988 0.1573576 10.46253987] [-0.33417535 -0.10206566 0.93696822 6.50742575] [ 0.93163793 -0.18633738 0.3119762 2.73054659] [ 0. 0. 0. 1. ]] SLAMing on 17.424206099 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:11.03, Y:6.24, Z:3.12 [[-0.87972775 0.20476529 0.42912733 11.02966546] [ 0.27919079 -0.50809283 0.81479701 6.24271274] [ 0.38487866 0.83660794 0.38981478 3.12468702] [ 0. 0. 0. 1. ]] SLAMing on 17.454206098999997 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:10.51, Y:6.06, Z:3.72 [[ 0.095025 -0.98025453 0.17341078 10.50956936] [ 0.68753805 0.19060347 0.70068663 6.06294783] [-0.71990394 0.05264376 0.69207438 3.72260216] [ 0. 0. 0. 1. ]] SLAMing on 17.484206098999998 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:10.06, Y:6.49, Z:3.35 [[ 9.95549629e-01 -5.84492320e-02 -7.39230923e-02 1.00572725e+01] [ 9.40487073e-02 5.66432199e-01 8.18724254e-01 6.49317886e+00] [-5.98138412e-03 -8.22032999e-01 5.69408441e-01 3.35024393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.514206099 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:10.54, Y:6.80, Z:2.91 [[ 0.21418393 0.97479142 0.06250549 10.53960111] [-0.3358817 0.0134103 0.94180871 6.8013489 ] [ 0.91722883 -0.22271474 0.33028687 2.91034396] [ 0. 0. 0. 1. ]] SLAMing on 17.544206098999997 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:11.10, Y:6.67, Z:3.16 [[-0.78101722 0.54793543 0.29963121 11.09780952] [ 0.01360439 -0.46474499 0.88534005 6.67422919] [ 0.62436129 0.69554213 0.35551951 3.15717036] [ 0. 0. 0. 1. ]] SLAMing on 17.574206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.67, Y:6.34, Z:3.87 [[ 4.44492728e-03 -9.94446152e-01 1.05152718e-01 1.06724666e+01] [ 7.22511033e-01 7.58919885e-02 6.87181354e-01 6.34286181e+00] [-6.91345102e-01 7.29195274e-02 7.18835650e-01 3.87443713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.604206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.17, Y:6.75, Z:3.50 [[ 0.98353099 -0.07450706 -0.16466784 10.16557271] [ 0.17699662 0.58150442 0.79405592 6.75336185] [ 0.0365923 -0.81012426 0.58511511 3.49816752] [ 0. 0. 0. 1. ]] SLAMing on 17.634206098999996 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:10.69, Y:7.11, Z:3.08 [[ 1.19887278e-01 9.92761390e-01 -7.20161324e-03 1.06885522e+01] [-3.38143578e-01 4.76527577e-02 9.39887299e-01 7.11258505e+00] [ 9.33426998e-01 -1.10245351e-01 3.41408848e-01 3.08245356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.664206098999998 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:11.23, Y:7.00, Z:3.41 [[-8.61607811e-01 4.47242008e-01 2.40013681e-01 1.12285434e+01] [ 4.06110410e-03 -4.66774407e-01 8.84367096e-01 6.99567831e+00] [ 5.07558359e-01 7.62952318e-01 4.00360178e-01 3.41396317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.694206099 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:10.75, Y:6.61, Z:4.04 [[ 2.67422555e-02 -9.99618709e-01 6.87661604e-03 1.07511356e+01] [ 7.38928581e-01 2.44002335e-02 6.73341801e-01 6.61194228e+00] [-6.73252853e-01 -1.29253503e-02 7.39299352e-01 4.03523686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.724206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.75, Y:6.64, Z:4.06 [[ 2.66788145e-02 -9.99616965e-01 7.35969572e-03 1.07499100e+01] [ 7.37411261e-01 2.46504512e-02 6.74994065e-01 6.64480226e+00] [-6.74916938e-01 -1.25809189e-02 7.37786451e-01 4.05836434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.754206098999997 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:10.75, Y:6.68, Z:4.08 [[ 3.06865789e-02 -9.99490222e-01 8.81076689e-03 1.07470947e+01] [ 7.38505654e-01 2.86120822e-02 6.73639925e-01 6.67787816e+00] [-6.73548613e-01 -1.41649036e-02 7.39007187e-01 4.07853857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.784206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.74, Y:6.71, Z:4.10 [[ 3.89388303e-02 -9.99188735e-01 1.02780878e-02 1.07427124e+01] [ 7.36313018e-01 3.56450049e-02 6.75701541e-01 6.71038095e+00] [-6.75519731e-01 -1.87431378e-02 7.37103648e-01 4.09884452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.814206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.74, Y:6.74, Z:4.12 [[ 0.04047215 -0.99911384 0.01155561 10.74149786] [ 0.73623223 0.03763816 0.67568149 6.74319136] [-0.67551766 -0.01883867 0.73710311 4.11920741] [ 0. 0. 0. 1. ]] SLAMing on 17.844206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.74, Y:6.77, Z:4.14 [[ 0.04072276 -0.99908518 0.01305579 10.74035511] [ 0.73544062 0.03881661 0.67647644 6.77488779] [-0.67636437 -0.01794623 0.73634854 4.1406019 ] [ 0. 0. 0. 1. ]] SLAMing on 17.874206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.74, Y:6.81, Z:4.16 [[ 0.04578033 -0.99884833 0.01435888 10.7381267 ] [ 0.73462547 0.04340354 0.67708312 6.80766488] [-0.67692657 -0.02044869 0.73576645 4.15986504] [ 0. 0. 0. 1. ]] SLAMing on 17.904206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.74, Y:6.84, Z:4.18 [[ 0.04720921 -0.99875831 0.01590985 10.73747217] [ 0.73387496 0.0454852 0.67776002 6.83993996] [-0.67764211 -0.02032068 0.73511104 4.18056753] [ 0. 0. 0. 1. ]] SLAMing on 17.934206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.74, Y:6.87, Z:4.20 [[ 0.05073876 -0.99856212 0.01729952 10.73590159] [ 0.73439383 0.04904365 0.67694936 6.87243945] [-0.67682441 -0.02164292 0.73582627 4.2014801 ] [ 0. 0. 0. 1. ]] SLAMing on 17.964206099 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:10.73, Y:6.90, Z:4.22 [[ 0.0517454 -0.99848486 0.01871895 10.73480656] [ 0.73393066 0.05073325 0.67732704 6.90377898] [-0.67725047 -0.02131015 0.73544386 4.22266077] [ 0. 0. 0. 1. ]] SLAMing on 17.994206099 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:10.73, Y:6.94, Z:4.24 [[ 0.05403175 -0.99833964 0.01996327 10.73269401] [ 0.73350416 0.05324795 0.67759598 6.93640927] [-0.67753393 -0.02196856 0.73516336 4.2419859 ] [ 0. 0. 0. 1. ]] SLAMing on 18.024206098999997 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:10.73, Y:6.97, Z:4.26 [[ 0.05499051 -0.99825629 0.02145768 10.73139849] [ 0.73312419 0.05495623 0.67787074 6.96869983] [-0.67786796 -0.02154531 0.7348679 4.26265394] [ 0. 0. 0. 1. ]] SLAMing on 18.054206098999998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:10.73, Y:7.00, Z:4.28 [[ 0.05431048 -0.99826209 0.0228729 10.73181878] [ 0.73257461 0.05540039 0.6784285 7.00044065] [-0.67851662 -0.02008968 0.73431029 4.28298035] [ 0. 0. 0. 1. ]] SLAMing on 18.084206099 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:10.73, Y:7.03, Z:4.30 [[ 0.06085995 -0.99790621 0.02189226 10.72870354] [ 0.73102646 0.05949608 0.67975034 7.03253428] [-0.67962959 -0.02536576 0.73311677 4.30256531] [ 0. 0. 0. 1. ]] SLAMing on 18.114206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.73, Y:7.07, Z:4.33 [[ 0.06231852 -0.99769867 0.02671636 10.72707168] [ 0.73161351 0.06387301 0.67872079 7.07321902] [-0.67886529 -0.02275083 0.7339103 4.32846294] [ 0. 0. 0. 1. ]] SLAMing on 18.144206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.73, Y:7.10, Z:4.35 [[ 0.06066503 -0.99777079 0.02780665 10.72781789] [ 0.73009749 0.06335225 0.68039999 7.10444342] [-0.68064484 -0.02097492 0.73231322 4.34783384] [ 0. 0. 0. 1. ]] SLAMing on 18.174206099 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:10.71, Y:7.18, Z:4.39 [[ 0.08195567 -0.99574715 0.04208182 10.70818395] [ 0.73217073 0.08880138 0.67530759 7.1825266 ] [-0.67617253 -0.02453421 0.73633469 4.39339895] [ 0. 0. 0. 1. ]] SLAMing on 18.204206098999997 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:10.73, Y:7.21, Z:4.41 [[ 4.90321628e-02 -9.97470591e-01 5.14613135e-02 1.07275071e+01] [ 7.35435745e-01 7.09177792e-02 6.73873084e-01 7.21416555e+00] [-6.75818105e-01 4.80503472e-03 7.37052780e-01 4.40931608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.234206098999998 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:10.24, Y:7.59, Z:4.07 [[ 9.67693769e-01 -1.54797656e-01 -1.99013704e-01 1.02433184e+01] [ 2.52128139e-01 5.95420011e-01 7.62827905e-01 7.59117002e+00] [ 4.12770066e-04 -7.88360765e-01 6.15213079e-01 4.06513208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.264206099 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:10.68, Y:8.01, Z:3.64 [[ 0.27078473 0.95910266 -0.08244822 10.67773783] [-0.35095295 0.17811144 0.91929774 8.01106128] [ 0.89638588 -0.21999635 0.38482977 3.6426747 ] [ 0. 0. 0. 1. ]] SLAMing on 18.294206098999997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:10.80, Y:7.40, Z:4.45 [[ 2.32761064e-02 -9.99705264e-01 6.89979954e-03 1.07984238e+01] [ 7.94006244e-01 2.26795926e-02 6.07486395e-01 7.40009173e+00] [-6.07463832e-01 -8.66143405e-03 7.94300115e-01 4.44875668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.324206098999998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:10.80, Y:7.43, Z:4.47 [[ 1.73251374e-02 -9.99795344e-01 1.04456041e-02 1.08018126e+01] [ 7.95544469e-01 2.01124869e-02 6.05561299e-01 7.43033371e+00] [-6.05647454e-01 -2.18149019e-03 7.95730107e-01 4.46924360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.354206099 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:10.30, Y:7.81, Z:4.18 [[ 9.43378869e-01 -2.33215455e-01 -2.35895871e-01 1.03042787e+01] [ 3.31659263e-01 6.49839215e-01 6.83894091e-01 7.80678413e+00] [-6.20028419e-03 -7.23408285e-01 6.90392649e-01 4.17803306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.384206098999996 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:10.72, Y:8.30, Z:3.78 [[ 0.27725406 0.95238951 -0.12682435 10.71605037] [-0.41991139 0.2388375 0.87557471 8.30114061] [ 0.86417857 -0.18950166 0.46613787 3.77787337] [ 0. 0. 0. 1. ]] SLAMing on 18.414206098999998 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:11.33, Y:8.14, Z:4.00 [[-0.88694495 0.42969228 0.16939068 11.33070451] [-0.10466899 -0.54419629 0.83240303 8.13662166] [ 0.44985893 0.72056571 0.52764761 4.00319252] [ 0. 0. 0. 1. ]] SLAMing on 18.444206099 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:10.87, Y:7.65, Z:4.54 [[-4.77216113e-02 -9.97977089e-01 -4.20045029e-02 1.08733988e+01] [ 8.31271416e-01 -6.29955284e-02 5.52285611e-01 7.64508622e+00] [-5.53814482e-01 -8.56118337e-03 8.32596076e-01 4.53687688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.474206098999996 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:10.35, Y:7.94, Z:4.16 [[ 0.94756507 -0.08354272 -0.30844944 10.35122261] [ 0.27950939 0.68454772 0.67325249 7.93552335] [ 0.15490302 -0.72416506 0.67200448 4.1568147 ] [ 0. 0. 0. 1. ]] SLAMing on 18.504206098999997 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:10.87, Y:7.63, Z:4.51 [[-2.85722543e-02 -9.99169531e-01 -2.90495328e-02 1.08655888e+01] [ 8.61991942e-01 -3.93431546e-02 5.05392924e-01 7.62521445e+00] [-5.06116111e-01 -1.06002481e-02 8.62400207e-01 4.51404231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.534206099 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:11.37, Y:8.01, Z:4.12 [[-0.95178655 -0.0611856 0.30059722 11.37454549] [-0.27101112 0.62680926 -0.7305225 8.00598262] [-0.14371966 -0.77676668 -0.6131706 4.12049358] [ 0. 0. 0. 1. ]] SLAMing on 18.564206098999996 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:11.38, Y:7.94, Z:3.98 [[-0.9511618 -0.05762809 0.30326594 11.38067815] [-0.28024846 0.57311709 -0.77006338 7.94090094] [-0.12942961 -0.81744468 -0.56127726 3.98335673] [ 0. 0. 0. 1. ]] SLAMing on 18.594206098999997 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:10.36, Y:7.70, Z:3.98 [[ 0.97851403 0.05446915 -0.19885524 10.36149014] [-0.11874478 -0.63957699 -0.75950047 7.69640942] [-0.16855258 0.76679488 -0.61936713 3.98246611] [ 0. 0. 0. 1. ]] SLAMing on 18.624206099 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] Translation: X:10.37, Y:7.53, Z:3.94 [[ 0.97699676 0.05440404 -0.2061978 10.37446598] [-0.11194081 -0.6921563 -0.71301397 7.52901047] [-0.18151195 0.71969428 -0.67014443 3.94112634] [ 0. 0. 0. 1. ]] SLAMing on 18.654206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.41, Y:7.56, Z:3.76 [[-0.95378618 -0.058825 0.29467192 11.40832619] [-0.26513147 0.62625318 -0.73315227 7.55676103] [-0.14141155 -0.77739731 -0.61290799 3.76007477] [ 0. 0. 0. 1. ]] SLAMing on 18.684206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.39, Y:7.32, Z:3.75 [[ 0.97553788 0.06921593 -0.20865044 10.38852429] [-0.10435203 -0.68958178 -0.71665028 7.32014206] [-0.19348516 0.72089259 -0.66549032 3.75228342] [ 0. 0. 0. 1. ]] SLAMing on 18.714206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.42, Y:7.36, Z:3.59 [[-0.95064729 -0.06495075 0.30339928 11.41583436] [-0.27551651 0.62640479 -0.72918289 7.36144614] [-0.14268978 -0.77678725 -0.61338503 3.58734857] [ 0. 0. 0. 1. ]] SLAMing on 18.744206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.41, Y:7.13, Z:3.59 [[ 0.97457058 0.07618405 -0.21073247 10.40593944] [-0.10151729 -0.68827594 -0.71831084 7.12931295] [-0.19976592 0.7214376 -0.66303949 3.58693526] [ 0. 0. 0. 1. ]] SLAMing on 18.774206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.98, Y:6.79, Z:3.90 [[-0.0831784 0.99511014 0.05326503 10.97931628] [ 0.47400295 0.08652401 -0.87626183 6.7893796 ] [-0.87658574 -0.04763827 -0.47888207 3.90365968] [ 0. 0. 0. 1. ]] SLAMing on 18.804206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.97, Y:6.75, Z:3.87 [[-0.05457021 0.9976379 0.04172189 10.96804208] [ 0.47700028 0.06275414 -0.87665994 6.75335536] [-0.8772074 -0.02793816 -0.47929806 3.87198537] [ 0. 0. 0. 1. ]] SLAMing on 18.834206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.96, Y:6.72, Z:3.84 [[-2.51930375e-02 9.99201526e-01 3.10100227e-02 1.09560403e+01] [ 4.77349383e-01 3.92789352e-02 -8.77835253e-01 6.72210930e+00] [-8.78352365e-01 -7.31272122e-03 -4.77957787e-01 3.83850655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.864206098999997 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:11.45, Y:7.02, Z:3.36 [[-0.95892819 0.05986647 0.27725931 11.4528558 ] [-0.18003128 0.62689672 -0.75801665 7.01602553] [-0.21919273 -0.77679888 -0.59037111 3.36064724] [ 0. 0. 0. 1. ]] SLAMing on 18.894206098999998 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:11.46, Y:6.95, Z:3.24 [[-0.9605795 0.06970081 0.26912603 11.45994381] [-0.18234755 0.57276046 -0.79918385 6.95199972] [-0.20984851 -0.8167541 -0.53747219 3.23945831] [ 0. 0. 0. 1. ]] SLAMing on 18.924206099 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:10.96, Y:7.16, Z:2.72 [[-1.14702698e-01 -9.85090635e-01 1.28217518e-01 1.09601377e+01] [-7.63120639e-01 4.74360563e-03 -6.46238647e-01 7.15863796e+00] [ 6.35995426e-01 -1.71970751e-01 -7.52287099e-01 2.71634998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.954206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.94, Y:6.54, Z:3.52 [[-4.16277199e-02 9.95126313e-01 8.93910153e-02 1.09396340e+01] [ 3.35537207e-01 9.81962239e-02 -9.36895023e-01 6.54096247e+00] [-9.41106750e-01 -9.00679198e-03 -3.37989589e-01 3.52456913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.984206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.42, Y:6.75, Z:3.07 [[-0.9307588 0.17851254 0.31909456 11.42092362] [-0.19139574 0.50572334 -0.84119651 6.74580807] [-0.31153769 -0.84402439 -0.43653991 3.07489386] [ 0. 0. 0. 1. ]] SLAMing on 19.014206099 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:10.98, Y:6.91, Z:2.48 [[-0.17448772 -0.9636934 0.20211151 10.97865498] [-0.71298793 -0.01791225 -0.70094747 6.91190197] [ 0.67911873 -0.26640979 -0.6839763 2.47645405] [ 0. 0. 0. 1. ]] SLAMing on 19.044206098999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:10.95, Y:6.37, Z:3.33 [[-0.07947368 0.98522047 0.15173847 10.94659427] [ 0.23851954 0.16659276 -0.95674201 6.36578366] [-0.96788035 -0.03984322 -0.24823407 3.32545306] [ 0. 0. 0. 1. ]] SLAMing on 19.074206098999998 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:10.95, Y:6.33, Z:3.30 [[-0.07541221 0.9861486 0.14772929 10.95338638] [ 0.23822823 0.16167881 -0.95765718 6.32589936] [-0.96827698 -0.03702576 -0.24712099 3.30288085] [ 0. 0. 0. 1. ]] SLAMing on 19.104206099 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:10.96, Y:6.29, Z:3.28 [[-0.07440294 0.9867769 0.14399847 10.96078251] [ 0.23916324 0.15784139 -0.95806422 6.28586073] [-0.96812455 -0.03684366 -0.24774462 3.2799908 ] [ 0. 0. 0. 1. ]] SLAMing on 19.134206098999996 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:10.97, Y:6.25, Z:3.26 [[-0.06718006 0.98811714 0.13824384 10.96506241] [ 0.24250963 0.15057296 -0.95839285 6.24783148] [-0.96782019 -0.03085943 -0.24974343 3.25697945] [ 0. 0. 0. 1. ]] SLAMing on 19.164206098999998 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:11.44, Y:6.45, Z:2.75 [[-0.92687593 0.07247283 0.36830517 11.43593123] [-0.30444335 0.428825 -0.85054298 6.45261318] [-0.21957972 -0.90047588 -0.3754037 2.74886663] [ 0. 0. 0. 1. ]] SLAMing on 19.194206099 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:10.99, Y:6.16, Z:3.14 [[-0.05681958 0.99028683 0.1268997 10.98735744] [ 0.17424514 0.13499041 -0.97540567 6.16034056] [-0.98306163 -0.03331049 -0.18022277 3.13746465] [ 0. 0. 0. 1. ]] SLAMing on 19.224206098999996 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:11.00, Y:6.12, Z:3.12 [[-0.06227267 0.990421 0.12324109 10.99563836] [ 0.17365998 0.13234955 -0.97587182 6.11875713] [-0.98283484 -0.0393681 -0.18023825 3.1167717 ] [ 0. 0. 0. 1. ]] SLAMing on 19.254206098999997 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:11.00, Y:6.08, Z:3.10 [[-0.06332772 0.99077531 0.11980771 11.00130033] [ 0.16794582 0.12891655 -0.97733041 6.07526283] [-0.98376003 -0.0417709 -0.17456057 3.10165247] [ 0. 0. 0. 1. ]] SLAMing on 19.284206099 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:11.01, Y:6.03, Z:3.09 [[-0.04828821 0.99200729 0.11657524 11.00737946] [ 0.15903839 0.12285854 -0.97959817 6.03011354] [-0.98609079 -0.02876311 -0.16369986 3.09030501] [ 0. 0. 0. 1. ]] SLAMing on 19.314206098999996 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:11.01, Y:5.99, Z:3.07 [[-0.04891813 0.99238281 0.11306355 11.01440839] [ 0.15828742 0.11947111 -0.98013864 5.99089813] [-0.98618057 -0.03005001 -0.16292602 3.06840216] [ 0. 0. 0. 1. ]] SLAMing on 19.344206098999997 meters Centerline goodness : 0.999969 Centerline is valid? [True, True] Translation: X:11.01, Y:5.95, Z:3.05 [[-2.39282257e-02 9.94406715e-01 1.02872376e-01 1.10067973e+01] [ 1.61200314e-01 1.05393143e-01 -9.81278118e-01 5.95173791e+00] [-9.86631592e-01 -6.89718498e-03 -1.62820545e-01 3.04854712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.374206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.51, Y:6.09, Z:2.52 [[-0.92710213 0.14221058 0.34678204 11.51493215] [-0.27852268 0.35773851 -0.89131828 6.09360168] [-0.25081218 -0.92292974 -0.29205126 2.518854 ] [ 0. 0. 0. 1. ]] SLAMing on 19.404206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.06, Y:6.15, Z:1.91 [[-0.17532142 -0.96130893 0.21247949 11.06003016] [-0.59846017 -0.06730799 -0.79832015 6.15012447] [ 0.78173386 -0.26712313 -0.56350457 1.90692664] [ 0. 0. 0. 1. ]] SLAMing on 19.434206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.47, Y:5.82, Z:2.20 [[ 0.93596291 -0.34178685 -0.08458833 10.47261879] [-0.23740674 -0.43518629 -0.86847621 5.81612747] [ 0.26002207 0.83294336 -0.48846073 2.19603692] [ 0. 0. 0. 1. ]] SLAMing on 19.464206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.98, Y:5.58, Z:2.84 [[ 0.01731099 0.98625636 0.16431287 10.98335837] [ 0.13056623 0.16070044 -0.9783291 5.57590665] [-0.99128845 0.03838956 -0.12598989 2.84139848] [ 0. 0. 0. 1. ]] SLAMing on 19.494206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.48, Y:5.80, Z:2.27 [[-0.89435343 -0.06433876 0.44271036 11.47969778] [-0.43893246 0.31739347 -0.84059484 5.79520826] [-0.08643055 -0.94610882 -0.31210231 2.26815686] [ 0. 0. 0. 1. ]] SLAMing on 19.524206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.83, Y:5.72, Z:1.76 [[ 0.25632372 -0.94779359 0.18969836 10.83495513] [-0.53149114 -0.30212479 -0.79135187 5.72296089] [ 0.8073508 0.10201925 -0.58118565 1.75767788] [ 0. 0. 0. 1. ]] SLAMing on 19.554206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.97, Y:5.37, Z:2.69 [[ 0.03784058 0.96473043 0.26050583 10.96588207] [ 0.06105044 0.25797367 -0.96422115 5.36555293] [-0.99741713 0.05239068 -0.04913534 2.69418453] [ 0. 0. 0. 1. ]] SLAMing on 19.584206099 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:11.02, Y:5.33, Z:2.70 [[-1.86445017e-02 9.67224823e-01 2.53236103e-01 1.10153963e+01] [ 6.05813306e-02 2.53907627e-01 -9.65329384e-01 5.32895604e+00] [-9.97989121e-01 -2.65670527e-03 -6.33297480e-02 2.70125282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.614206098999997 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:11.49, Y:5.53, Z:2.12 [[-0.86255156 -0.04344954 0.50410013 11.48858642] [-0.49670489 0.26249615 -0.82727264 5.53382826] [-0.09637973 -0.96395431 -0.24799806 2.12470058] [ 0. 0. 0. 1. ]] SLAMing on 19.644206098999998 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:10.94, Y:5.42, Z:1.59 [[ 0.12518301 -0.94611897 0.29864377 10.93613727] [-0.51024011 -0.3195472 -0.79846391 5.41724977] [ 0.85087263 -0.05242591 -0.52274973 1.58776284] [ 0. 0. 0. 1. ]] SLAMing on 19.674206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.51, Y:5.00, Z:2.04 [[ 0.99864768 -0.02853754 0.04345597 10.51321323] [ 0.0298511 -0.36959645 -0.92871275 4.99834765] [ 0.04256435 0.92875404 -0.36824476 2.04071281] [ 0. 0. 0. 1. ]] SLAMing on 19.704206098999997 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:11.08, Y:4.94, Z:2.58 [[-1.09043532e-02 9.46409018e-01 3.22786408e-01 1.10753980e+01] [ 6.71572712e-02 3.22769892e-01 -9.44091891e-01 4.93732048e+00] [-9.97682813e-01 1.13827429e-02 -6.70778440e-02 2.58027524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.734206098999998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:11.55, Y:5.16, Z:2.04 [[-0.82915107 0.02967395 0.55823648 11.55331188] [-0.52782372 0.28738953 -0.79925551 5.15900185] [-0.18414838 -0.95735402 -0.22262672 2.04207338] [ 0. 0. 0. 1. ]] SLAMing on 19.764206099 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:11.10, Y:4.84, Z:2.47 [[ 4.42552656e-02 9.51048627e-01 3.05856144e-01 1.10958137e+01] [ 5.96608938e-03 3.05899040e-01 -9.52045263e-01 4.84247543e+00] [-9.99002441e-01 4.39577811e-02 7.86360217e-03 2.47035941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.794206098999997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:11.59, Y:5.03, Z:1.97 [[-0.82384799 0.09893616 0.55810942 11.59089452] [-0.52535359 0.23636308 -0.81739592 5.03440337] [-0.21278647 -0.96661478 -0.14275079 1.97358788] [ 0. 0. 0. 1. ]] SLAMing on 19.824206098999998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:11.13, Y:4.76, Z:2.39 [[ 0.0663447 0.95110653 0.30165335 11.12726237] [-0.06413338 0.30575906 -0.94994647 4.76470252] [-0.99573354 0.04367786 0.08128317 2.38853145] [ 0. 0. 0. 1. ]] SLAMing on 19.854206099 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:11.63, Y:4.93, Z:1.79 [[-0.82221 -0.05953281 0.56606232 11.63028583] [-0.56902107 0.10978547 -0.81496146 4.93138449] [-0.01362847 -0.99217085 -0.12414213 1.78758552] [ 0. 0. 0. 1. ]] SLAMing on 19.884206098999996 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:11.17, Y:4.68, Z:2.31 [[ 0.06314523 0.94837109 0.31081337 11.16984555] [-0.14151189 0.31679655 -0.93787757 4.67652143] [-0.98792058 0.01523871 0.15420997 2.30720758] [ 0. 0. 0. 1. ]] SLAMing on 19.914206098999998 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:11.67, Y:4.79, Z:1.83 [[-8.11885711e-01 1.78774071e-01 5.55771018e-01 1.16733359e+01] [-5.44090689e-01 1.13460537e-01 -8.31319451e-01 4.79142120e+00] [-2.11676441e-01 -9.77326219e-01 5.15231883e-03 1.82848736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.944206099 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:11.20, Y:4.59, Z:2.24 [[ 0.09629933 0.95092705 0.29404793 11.19981723] [-0.19889604 0.3078469 -0.93041424 4.5854489 ] [-0.97527781 0.0311133 0.21878108 2.23665815] [ 0. 0. 0. 1. ]] SLAMing on 19.974206098999996 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:11.72, Y:4.67, Z:1.71 [[-0.82198533 0.10142031 0.56040524 11.72117314] [-0.56211261 0.01358965 -0.82694905 4.67414088] [-0.09148515 -0.99475084 0.04583914 1.70731712] [ 0. 0. 0. 1. ]] SLAMing on 20.004206098999997 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:11.25, Y:4.50, Z:2.17 [[ 9.23542480e-02 9.51688120e-01 2.92848793e-01 1.12461928e+01] [-2.73263537e-01 3.07038037e-01 -9.11622007e-01 4.49509928e+00] [-9.57495552e-01 4.16726807e-03 2.88417929e-01 2.17154158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.034206099 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:11.27, Y:4.47, Z:2.17 [[ 0.07342551 0.95206293 0.29695939 11.26686383] [-0.27973257 0.30547095 -0.91018525 4.4670066 ] [-0.9572661 -0.0162384 0.28875237 2.16989385] [ 0. 0. 0. 1. ]] SLAMing on 20.064206098999996 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:11.28, Y:4.44, Z:2.17 [[ 0.06938526 0.95238803 0.2968884 11.28048256] [-0.28271606 0.30417716 -0.90969659 4.43518814] [-0.95669082 -0.02081559 0.2903608 2.16992498] [ 0. 0. 0. 1. ]] SLAMing on 20.094206098999997 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:11.30, Y:4.40, Z:2.17 [[ 0.05109768 0.95207964 0.30155163 11.30236032] [-0.29406512 0.30290332 -0.90651822 4.40433431] [-0.95441853 -0.04235483 0.29545107 2.16935127] [ 0. 0. 0. 1. ]] SLAMing on 20.124206099 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:11.30, Y:4.37, Z:2.17 [[ 8.11607369e-02 9.53015089e-01 2.91847861e-01 1.12973205e+01] [-2.83261036e-01 3.02794577e-01 -9.09988258e-01 4.36679559e+00] [-9.55602491e-01 -8.81380997e-03 2.94527073e-01 2.17085642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.154206098999996 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:11.31, Y:4.33, Z:2.17 [[ 0.07610764 0.95363708 0.29117684 11.30985504] [-0.28224169 0.30068465 -0.91100405 4.3342904 ] [-0.95631964 -0.01284788 0.29204054 2.17108085] [ 0. 0. 0. 1. ]] SLAMing on 20.184206098999997 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:11.32, Y:4.30, Z:2.17 [[ 0.07582176 0.95394154 0.29025264 11.32123962] [-0.28231859 0.29971733 -0.91129893 4.30098017] [-0.95631965 -0.01284743 0.29204053 2.17180449] [ 0. 0. 0. 1. ]] SLAMing on 20.214206099 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:11.35, Y:4.27, Z:2.17 [[ 0.04888605 0.95358012 0.29714493 11.34694968] [-0.28681535 0.29837324 -0.9103353 4.27432918] [-0.95673774 -0.04072303 0.2880877 2.1740536 ] [ 0. 0. 0. 1. ]] SLAMing on 20.244206098999996 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:11.35, Y:4.24, Z:2.17 [[ 0.0732378 0.95459622 0.28875991 11.34581685] [-0.27989441 0.29757481 -0.91274769 4.23752931] [-0.95723317 -0.01397465 0.28897987 2.17422732] [ 0. 0. 0. 1. ]] SLAMing on 20.274206098999997 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:11.36, Y:4.20, Z:2.18 [[ 0.07369236 0.95478417 0.28802191 11.35601286] [-0.2745669 0.29707 -0.91452853 4.20362439] [-0.95874003 -0.01168752 0.28404392 2.17834789] [ 0. 0. 0. 1. ]] SLAMing on 20.304206098999998 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:11.37, Y:4.16, Z:2.18 [[ 0.06952864 0.9555229 0.28660384 11.37155223] [-0.27420293 0.29453841 -0.91545611 4.16473225] [-0.95915511 -0.0149372 0.28248603 2.17833837] [ 0. 0. 0. 1. ]] SLAMing on 20.334206098999996 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:11.39, Y:4.13, Z:2.18 [[ 0.06077107 0.95649801 0.28533915 11.38783204] [-0.28053686 0.29071188 -0.9147599 4.13217413] [-0.9579175 -0.02445721 0.28599983 2.17736646] [ 0. 0. 0. 1. ]] SLAMing on 20.364206098999997 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:11.40, Y:4.10, Z:2.18 [[ 0.06315253 0.95651272 0.28477215 11.39752735] [-0.2803073 0.2908558 -0.91478452 4.10072734] [-0.95783066 -0.02205275 0.28648577 2.17733271] [ 0. 0. 0. 1. ]] SLAMing on 20.394206098999998 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:11.53, Y:4.00, Z:2.18 [[-7.18979620e-03 9.69325019e-01 2.45677258e-01 1.15264241e+01] [-3.00792341e-01 2.32208909e-01 -9.24988103e-01 4.00017829e+00] [-9.53662558e-01 -8.05483136e-02 2.89896007e-01 2.17661028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.424206099 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:11.52, Y:3.96, Z:2.17 [[ 0.02846671 0.97124034 0.23639342 11.51784019] [-0.30396267 0.23370101 -0.92357487 3.96247827] [-0.95225855 -0.04556364 0.30187351 2.17118429] [ 0. 0. 0. 1. ]] SLAMing on 20.454206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.52, Y:3.93, Z:2.18 [[ 0.0372071 0.97234044 0.23058555 11.52258659] [-0.29155188 0.23126876 -0.92817685 3.92570565] [-0.95583112 -0.03269289 0.29209252 2.17779181] [ 0. 0. 0. 1. ]] SLAMing on 20.484206098999998 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:11.55, Y:3.86, Z:2.18 [[ 0.02799873 0.97491952 0.22078948 11.55170002] [-0.29463331 0.21911237 -0.93015105 3.85818132] [-0.95520013 -0.03900889 0.29337864 2.17899464] [ 0. 0. 0. 1. ]] SLAMing on 20.514206099 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:11.57, Y:3.83, Z:2.18 [[ 8.65867751e-03 9.73794035e-01 2.27266812e-01 1.15713801e+01] [-3.06684376e-01 2.18908466e-01 -9.26295729e-01 3.82596022e+00] [-9.51771885e-01 -6.16786843e-02 3.00542874e-01 2.17501139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.544206098999997 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:11.55, Y:3.78, Z:2.18 [[ 6.97301040e-02 9.75691056e-01 2.07761105e-01 1.15479010e+01] [-2.85543045e-01 2.19075556e-01 -9.32990391e-01 3.78250299e+00] [-9.55825759e-01 5.73277856e-03 2.93877956e-01 2.17805766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.574206098999998 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:12.08, Y:3.77, Z:1.69 [[-0.87210127 0.18483859 0.45307182 12.08082318] [-0.4713013 -0.06830794 -0.8793231 3.76843387] [-0.13158443 -0.98039213 0.14668611 1.69210565] [ 0. 0. 0. 1. ]] SLAMing on 20.604206099 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:11.60, Y:3.68, Z:2.13 [[ 0.05312364 0.97922351 0.19570182 11.5993668 ] [-0.35225073 0.20175658 -0.91390027 3.67644231] [-0.93439676 -0.0203864 0.35565023 2.12539523] [ 0. 0. 0. 1. ]] SLAMing on 20.634206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.62, Y:3.64, Z:2.13 [[ 0.03677794 0.979316 0.19896623 11.61667052] [-0.35685478 0.19884405 -0.91275172 3.64257619] [-0.93343562 -0.03743293 0.35678667 2.12973927] [ 0. 0. 0. 1. ]] SLAMing on 20.664206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.62, Y:3.60, Z:2.13 [[ 0.05203356 0.97972443 0.19347492 11.61703043] [-0.35352635 0.19926274 -0.91395486 3.60389211] [-0.93397625 -0.02084215 0.35672675 2.13451921] [ 0. 0. 0. 1. ]] SLAMing on 20.694206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.63, Y:3.57, Z:2.14 [[ 0.05112603 0.97997343 0.19245315 11.62566539] [-0.35361112 0.19798432 -0.91419986 3.56823869] [-0.93399427 -0.02131417 0.35665165 2.13801791] [ 0. 0. 0. 1. ]] SLAMing on 20.724206098999996 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:11.63, Y:3.53, Z:2.14 [[ 0.05054937 0.98020555 0.19142058 11.63460414] [-0.35329849 0.19682282 -0.91457146 3.53294731] [-0.93414396 -0.02139759 0.35625441 2.14169208] [ 0. 0. 0. 1. ]] SLAMing on 20.754206098999997 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:11.64, Y:3.50, Z:2.14 [[ 0.04477805 0.98068032 0.19042333 11.64458022] [-0.35380357 0.19382767 -0.91501577 3.49754002] [-0.93424727 -0.02639983 0.35564742 2.14492139] [ 0. 0. 0. 1. ]] SLAMing on 20.784206099 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:11.64, Y:3.46, Z:2.15 [[ 6.40821696e-02 9.80493059e-01 1.85813985e-01 1.16416419e+01] [-3.50737324e-01 1.96446342e-01 -9.15637573e-01 3.46159891e+00] [-9.34278762e-01 -6.49585748e-03 3.56484219e-01 2.14620753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.814206098999996 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:12.17, Y:3.41, Z:1.67 [[-0.88173473 0.1983263 0.42803101 12.17405819] [-0.45773198 -0.1401684 -0.87797167 3.40561685] [-0.11412845 -0.97006159 0.21437164 1.6718394 ] [ 0. 0. 0. 1. ]] SLAMing on 20.844206098999997 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:11.67, Y:3.35, Z:2.10 [[ 8.15367214e-02 9.83315036e-01 1.62613971e-01 1.16712989e+01] [-4.08981738e-01 1.81797901e-01 -8.94250223e-01 3.35160204e+00] [-9.08892569e-01 6.40808673e-03 4.16981097e-01 2.09978707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.874206099 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:12.22, Y:3.24, Z:1.58 [[-8.99849286e-01 1.09306869e-01 4.22283401e-01 1.22176078e+01] [-4.36193849e-01 -2.31009223e-01 -8.69695156e-01 3.24415445e+00] [ 2.48770545e-03 -9.66791988e-01 2.55552469e-01 1.58373457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.904206098999996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:11.72, Y:3.24, Z:2.06 [[ 0.0546171 0.98585809 0.15843234 11.71986962] [-0.48138619 0.16500978 -0.86083629 3.23728614] [-0.8748053 -0.02925076 0.48359082 2.06237833] [ 0. 0. 0. 1. ]] SLAMing on 20.934206098999997 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:11.73, Y:3.20, Z:2.07 [[ 0.05017065 0.98626175 0.157387 11.72982804] [-0.48414686 0.16184862 -0.85988769 3.20382014] [-0.87354721 -0.0330573 0.48561558 2.07030967] [ 0. 0. 0. 1. ]] SLAMing on 20.964206099 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:11.74, Y:3.17, Z:2.08 [[ 0.04395022 0.98668562 0.15658823 11.74067467] [-0.48706441 0.15801236 -0.85895305 3.17141068] [-0.8722595 -0.03851738 0.48752413 2.07844665] [ 0. 0. 0. 1. ]] SLAMing on 20.994206098999996 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:11.76, Y:3.14, Z:2.09 [[ 0.02485535 0.98746926 0.15584181 11.75606417] [-0.489441 0.14794871 -0.85939437 3.14017021] [-0.87168212 -0.05491482 0.48698526 2.08663707] [ 0. 0. 0. 1. ]] SLAMing on 21.024206098999997 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:11.76, Y:3.11, Z:2.10 [[ 0.03087016 0.98744736 0.1549024 11.75652512] [-0.48957328 0.15005085 -0.85895445 3.10677672] [-0.87141553 -0.04932001 0.48805994 2.09622747] [ 0. 0. 0. 1. ]] SLAMing on 21.054206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.75, Y:3.07, Z:2.11 [[ 0.06639481 0.98583845 0.15399442 11.74612037] [-0.48737755 0.16671331 -0.85712881 3.07139744] [-0.87066346 -0.01814452 0.49154442 2.10556381] [ 0. 0. 0. 1. ]] SLAMing on 21.084206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.75, Y:3.04, Z:2.11 [[ 0.06572756 0.98598581 0.15333583 11.75224015] [-0.48633307 0.16583513 -0.8578921 3.03891807] [-0.8712979 -0.01818513 0.49041744 2.1136318 ] [ 0. 0. 0. 1. ]] SLAMing on 21.114206098999997 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:11.74, Y:3.00, Z:2.12 [[ 0.09496696 0.98475827 0.14571347 11.74325007] [-0.47732241 0.17349626 -0.86143042 3.00195816] [-0.87358148 0.01225513 0.4865236 2.11881286] [ 0. 0. 0. 1. ]] SLAMing on 21.144206098999998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:11.78, Y:2.97, Z:2.13 [[ 0.03231605 0.98645406 0.16082306 11.78337716] [-0.4905848 0.15584552 -0.857344 2.97366889] [-0.87079402 -0.05119138 0.48897568 2.12688254] [ 0. 0. 0. 1. ]] SLAMing on 21.174206098999996 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:11.77, Y:2.94, Z:2.14 [[ 0.06613818 0.98633296 0.15090734 11.77191401] [-0.48517369 0.16394516 -0.85891121 2.9388603 ] [-0.87191297 -0.01640945 0.48938584 2.13718177] [ 0. 0. 0. 1. ]] SLAMing on 21.204206098999997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:11.78, Y:2.91, Z:2.15 [[ 0.06900264 0.98626922 0.15003889 11.77674971] [-0.48595301 0.16457763 -0.8583495 2.90660572] [-0.87125674 -0.01368347 0.49063679 2.14517188] [ 0. 0. 0. 1. ]] SLAMing on 21.234206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.78, Y:2.87, Z:2.15 [[ 0.06954175 0.98634823 0.14926858 11.7824325 ] [-0.48604733 0.16417008 -0.85837414 2.87481508] [-0.87116126 -0.01285875 0.4908286 2.15361615] [ 0. 0. 0. 1. ]] SLAMing on 21.264206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.79, Y:2.84, Z:2.16 [[ 7.37104315e-02 9.86190128e-01 1.48309826e-01 1.17869534e+01] [-4.86777048e-01 1.65374022e-01 -8.57729292e-01 2.84148144e+00] [-8.70410753e-01 -8.97022277e-03 4.92244509e-01 2.16249831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.294206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.79, Y:2.81, Z:2.17 [[ 7.19751420e-02 9.86441870e-01 1.47485646e-01 1.17938909e+01] [-4.87491464e-01 1.63795615e-01 -8.57626416e-01 2.80924577e+00] [-8.70156108e-01 -1.01702102e-02 4.92671204e-01 2.17029422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.324206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.80, Y:2.78, Z:2.18 [[ 7.21937040e-02 9.86548327e-01 1.46664472e-01 1.17998321e+01] [-4.88093265e-01 1.63182598e-01 -8.57400959e-01 2.77686457e+00] [-8.69800571e-01 -9.68698983e-03 4.93308350e-01 2.17839589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.354206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.80, Y:2.75, Z:2.18 [[ 7.88068965e-02 9.86303504e-01 1.44896073e-01 1.18020001e+01] [-4.86453031e-01 1.64915643e-01 -8.58001328e-01 2.74580198e+00] [-8.70145345e-01 -2.86871197e-03 4.92786818e-01 2.18482200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.384206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.83, Y:2.72, Z:2.19 [[ 0.04224789 0.98755163 0.15151534 11.8282657 ] [-0.49396374 0.15246561 -0.85601055 2.71563508] [-0.86845549 -0.03867844 0.49425604 2.19401922] [ 0. 0. 0. 1. ]] SLAMing on 21.414206098999998 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:11.82, Y:2.68, Z:2.20 [[ 7.09816009e-02 9.87277092e-01 1.42286876e-01 1.18188830e+01] [-4.87360229e-01 1.58787375e-01 -8.58642287e-01 2.68144857e+00] [-8.70311220e-01 -8.39716021e-03 4.92430572e-01 2.20112817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.444206099 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:11.84, Y:2.65, Z:2.21 [[ 0.05188802 0.98766151 0.14775784 11.83536725] [-0.4942677 0.15396297 -0.85556698 2.65123544] [-0.86775981 -0.02863825 0.49615801 2.20907782] [ 0. 0. 0. 1. ]] SLAMing on 21.474206098999996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:11.83, Y:2.62, Z:2.22 [[ 0.06575132 0.98767804 0.14201709 11.83421667] [-0.49312362 0.15589368 -0.85587747 2.61686413] [-0.86747095 -0.01375691 0.49729759 2.21891114] [ 0. 0. 0. 1. ]] SLAMing on 21.504206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.84, Y:2.59, Z:2.23 [[ 0.06583791 0.98792437 0.14025263 11.84050215] [-0.49297918 0.15440977 -0.85622962 2.58711456] [-0.86754648 -0.01276925 0.49719216 2.22622758] [ 0. 0. 0. 1. ]] SLAMing on 21.534206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.85, Y:2.56, Z:2.23 [[ 0.05265804 0.98831324 0.14305266 11.85352621] [-0.49590886 0.15021963 -0.85528268 2.5580728 ] [-0.86677652 -0.02590357 0.49802356 2.23343729] [ 0. 0. 0. 1. ]] SLAMing on 21.564206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.86, Y:2.53, Z:2.24 [[ 0.04410182 0.98840076 0.14532363 11.86403712] [-0.49810143 0.14784971 -0.85442111 2.526859 ] [-0.86599653 -0.03470438 0.49884427 2.24323641] [ 0. 0. 0. 1. ]] SLAMing on 21.594206098999997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:11.86, Y:2.49, Z:2.25 [[ 0.05624347 0.98848877 0.14045149 11.86361897] [-0.50014539 0.14964544 -0.85291315 2.49282772] [-0.86411299 -0.02227537 0.50280468 2.25085808] [ 0. 0. 0. 1. ]] SLAMing on 21.624206099 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:11.87, Y:2.46, Z:2.26 [[ 0.06250954 0.98850062 0.13769199 11.8662547 ] [-0.4991473 0.15043209 -0.85335934 2.45871284] [-0.86425953 -0.01538549 0.50281085 2.25963239] [ 0. 0. 0. 1. ]] SLAMing on 21.654206098999996 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:11.87, Y:2.43, Z:2.27 [[ 0.06426533 0.9885034 0.13686126 11.87145222] [-0.50012452 0.15058173 -0.85276058 2.42710178] [-0.86356553 -0.01364473 0.50405197 2.26612453] [ 0. 0. 0. 1. ]] SLAMing on 21.684206098999997 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:11.88, Y:2.39, Z:2.28 [[ 6.61702426e-02 9.88461712e-01 1.36253229e-01 1.18761997e+01] [-4.98171511e-01 1.51042846e-01 -8.53821529e-01 2.39449348e+00] [-8.64549966e-01 -1.13798993e-02 5.02418007e-01 2.27551744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.714206099 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:11.88, Y:2.36, Z:2.28 [[ 7.77950472e-02 9.88175210e-01 1.32127534e-01 1.18751919e+01] [-4.95108411e-01 1.53324874e-01 -8.55195384e-01 2.36232346e+00] [-8.65341315e-01 1.11251159e-03 5.01181774e-01 2.28274859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.744206098999996 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:11.88, Y:2.33, Z:2.29 [[ 7.51189263e-02 9.88419179e-01 1.31850949e-01 1.18821907e+01] [-4.98545659e-01 1.51739571e-01 -8.53479542e-01 2.33145951e+00] [-8.63602555e-01 -1.62125141e-03 5.04170604e-01 2.28676762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.774206098999997 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:11.91, Y:2.30, Z:2.30 [[ 0.05540693 0.98806747 0.14371061 11.90719039] [-0.50110053 0.15201023 -0.85193377 2.30251078] [-0.86361353 -0.02481042 0.50354356 2.29579383] [ 0. 0. 0. 1. ]] SLAMing on 21.804206098999998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:11.89, Y:2.27, Z:2.30 [[ 0.11055204 0.98543578 0.12920748 11.88521318] [-0.49061589 0.16717025 -0.85519013 2.26632238] [-0.8643346 0.03115177 0.50195147 2.30177912] [ 0. 0. 0. 1. ]] SLAMing on 21.834206098999996 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:11.91, Y:2.24, Z:2.31 [[ 0.05487761 0.98910891 0.13657237 11.91042088] [-0.49668673 0.14569696 -0.85561363 2.23559783] [-0.86619325 -0.02087965 0.49927277 2.30557644] [ 0. 0. 0. 1. ]] SLAMing on 21.864206098999997 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:11.92, Y:2.20, Z:2.31 [[ 0.04083074 0.98977528 0.13666657 11.91849007] [-0.50179775 0.13859309 -0.85380968 2.20229184] [-0.86402076 -0.0337173 0.50232587 2.31241751] [ 0. 0. 0. 1. ]] SLAMing on 21.894206098999998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:11.89, Y:2.17, Z:2.32 [[ 0.08894856 0.98870733 0.12060671 11.89479695] [-0.49721908 0.14899636 -0.85473579 2.16555507] [-0.8630535 0.01605956 0.50485716 2.31969449] [ 0. 0. 0. 1. ]] SLAMing on 21.924206098999996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:11.92, Y:2.14, Z:2.33 [[ 0.04505154 0.9902092 0.13212155 11.92309409] [-0.50330861 0.13674221 -0.85321862 2.13841275] [-0.86293152 -0.0280591 0.50454126 2.33173592] [ 0. 0. 0. 1. ]] SLAMing on 21.954206098999997 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:11.95, Y:2.11, Z:2.34 [[ 2.07915643e-03 9.89856472e-01 1.42055769e-01 1.19514082e+01] [-5.05713705e-01 1.23592677e-01 -8.53802377e-01 2.11074571e+00] [-8.62698862e-01 -7.00643604e-02 5.00840952e-01 2.34129693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.984206098999998 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:11.96, Y:2.08, Z:2.35 [[-1.26242015e-03 9.90068441e-01 1.40580538e-01 1.19579459e+01] [-5.02556245e-01 1.20910060e-01 -8.56047883e-01 2.07769993e+00] [-8.64543595e-01 -7.17303194e-02 4.97412439e-01 2.35301531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.014206098999995 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:11.94, Y:2.04, Z:2.36 [[ 0.04054049 0.99115653 0.1263535 11.94064313] [-0.49598375 0.12973995 -0.85858468 2.04222208] [-0.86738491 -0.02786183 0.49685726 2.36186601] [ 0. 0. 0. 1. ]] SLAMing on 22.044206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.97, Y:2.00, Z:2.37 [[ 9.65657540e-03 9.91088219e-01 1.32856663e-01 1.19667089e+01] [-5.02129332e-01 1.19703088e-01 -8.56467924e-01 1.99779642e+00] [-8.64738622e-01 -5.84406806e-02 4.98810387e-01 2.37364046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.074206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.98, Y:1.96, Z:2.38 [[ 6.49903178e-03 9.91705222e-01 1.28368671e-01 1.19764632e+01] [-5.02626074e-01 1.14216395e-01 -8.56925694e-01 1.95524044e+00] [-8.64479492e-01 -5.89522540e-02 4.99199198e-01 2.38305091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.104206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.98, Y:1.92, Z:2.39 [[ 1.10731143e-02 9.92053721e-01 1.25326774e-01 1.19800229e+01] [-5.00958336e-01 1.13974925e-01 -8.57933833e-01 1.92182778e+00] [-8.65400561e-01 -5.32834927e-02 4.98239639e-01 2.39237945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.134206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.98, Y:1.89, Z:2.40 [[ 0.02320019 0.99228028 0.12182608 11.98068797] [-0.50195081 0.11694739 -0.85695314 1.88664362] [-0.86458495 -0.04126922 0.50078909 2.39602281] [ 0. 0. 0. 1. ]] SLAMing on 22.164206098999998 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:12.02, Y:1.85, Z:2.39 [[-0.03556968 0.99204532 0.1207513 12.02355723] [-0.52028923 0.08477888 -0.84977153 1.85290256] [-0.85324903 -0.09305171 0.51313494 2.38686673] [ 0. 0. 0. 1. ]] SLAMing on 22.194206099 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] Translation: X:11.99, Y:1.82, Z:2.41 [[ 0.03274655 0.9927136 0.1159628 11.9878647 ] [-0.50421923 0.11658678 -0.85566962 1.81894481] [-0.8629546 -0.03045044 0.5043631 2.41383031] [ 0. 0. 0. 1. ]] SLAMing on 22.224206098999996 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:11.98, Y:1.79, Z:2.42 [[ 0.04748014 0.99262727 0.11152017 11.98459204] [-0.49900758 0.12028739 -0.85820882 1.78528969] [-0.86529594 -0.01490154 0.50103979 2.4209494 ] [ 0. 0. 0. 1. ]] SLAMing on 22.254206098999997 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:12.03, Y:1.76, Z:2.43 [[-0.02852257 0.99107778 0.13019712 12.03006814] [-0.50576852 0.09803829 -0.85708033 1.75729219] [-0.86219758 -0.09029574 0.49845964 2.42926259] [ 0. 0. 0. 1. ]] SLAMing on 22.284206099 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:12.01, Y:1.72, Z:2.44 [[ 0.01741126 0.99319486 0.11515559 12.01223806] [-0.50614156 0.1080811 -0.85565133 1.71975193] [-0.86227465 -0.04338706 0.50457902 2.43929407] [ 0. 0. 0. 1. ]] SLAMing on 22.314206098999996 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:12.01, Y:1.69, Z:2.45 [[ 0.0326976 0.99326288 0.11117423 12.01123908] [-0.50340058 0.11246098 -0.85670321 1.68552892] [-0.86343426 -0.02795304 0.50368632 2.44966835] [ 0. 0. 0. 1. ]] SLAMing on 22.344206098999997 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:12.03, Y:1.66, Z:2.46 [[ 0.01247845 0.99313079 0.1163423 12.02726341] [-0.50287602 0.10679962 -0.85773513 1.65597436] [-0.86426847 -0.04780255 0.50075435 2.45725044] [ 0. 0. 0. 1. ]] SLAMing on 22.374206099 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:12.04, Y:1.62, Z:2.47 [[ 6.76164780e-03 9.93515368e-01 1.13496670e-01 1.20359277e+01] [-5.07218233e-01 1.01222442e-01 -8.55852605e-01 1.62109260e+00] [-8.61791126e-01 -5.17806063e-02 5.04613540e-01 2.46628012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.404206098999996 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:12.03, Y:1.59, Z:2.48 [[ 0.02130109 0.99390493 0.10816311 12.03306045] [-0.50475407 0.1040783 -0.85696618 1.58754041] [-0.86300034 -0.03634146 0.50389454 2.47656767] [ 0. 0. 0. 1. ]] SLAMing on 22.434206098999997 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:12.04, Y:1.56, Z:2.48 [[ 8.02895552e-03 9.93800895e-01 1.10884248e-01 1.20442607e+01] [-5.03744506e-01 9.98094221e-02 -8.58067335e-01 1.55586401e+00] [-8.63815379e-01 -4.89679460e-02 5.01423107e-01 2.48445690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.464206099 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:12.05, Y:1.52, Z:2.49 [[ 1.12632246e-02 9.94091118e-01 1.07962909e-01 1.20476073e+01] [-5.05777022e-01 9.88033562e-02 -8.56987457e-01 1.52130505e+00] [-8.62590716e-01 -4.49527162e-02 5.03901289e-01 2.49467274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.494206098999996 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:12.05, Y:1.49, Z:2.50 [[ 0.01413032 0.99432487 0.10544377 12.05189628] [-0.50429727 0.09814672 -0.85793443 1.48752157] [-0.8634145 -0.04105211 0.50282216 2.5037905 ] [ 0. 0. 0. 1. ]] SLAMing on 22.524206098999997 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:12.06, Y:1.46, Z:2.51 [[ 6.73445615e-03 9.93990765e-01 1.09256611e-01 1.20600623e+01] [-5.04289253e-01 9.77241544e-02 -8.57987377e-01 1.45625168e+00] [-8.63508539e-01 -4.93188564e-02 5.01916979e-01 2.51161334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.554206098999998 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:12.07, Y:1.42, Z:2.52 [[ 3.71907342e-03 9.94029041e-01 1.09052440e-01 1.20674703e+01] [-5.12585313e-01 9.55317866e-02 -8.53305323e-01 1.42389160e+00] [-8.58628246e-01 -5.27251741e-02 5.09879977e-01 2.51639255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.584206098999996 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:12.09, Y:1.35, Z:2.54 [[-8.21850666e-04 9.95245682e-01 9.73927992e-02 1.20877645e+01] [-5.04516897e-01 8.36764721e-02 -8.59337505e-01 1.35009084e+00] [-8.63401427e-01 -4.98425600e-02 5.02049494e-01 2.54314821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.614206098999997 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:12.08, Y:1.32, Z:2.55 [[ 0.0163888 0.99554049 0.09290069 12.08211646] [-0.50654674 0.08837407 -0.85767151 1.31537549] [-0.86205673 -0.03300233 0.50573613 2.54867561] [ 0. 0. 0. 1. ]] SLAMing on 22.644206098999998 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:12.09, Y:1.28, Z:2.56 [[ 8.27595806e-03 9.95656770e-01 9.27313595e-02 1.20897468e+01] [-5.06841727e-01 8.41165206e-02 -8.57925331e-01 1.28170793e+00] [-8.61999404e-01 -3.98999684e-02 5.05336542e-01 2.55704882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.674206098999996 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:12.10, Y:1.25, Z:2.57 [[ 3.98680683e-03 9.95691778e-01 9.26390274e-02 1.20962222e+01] [-5.08178713e-01 8.18032419e-02 -8.57357933e-01 1.24861386e+00] [-8.61242417e-01 -4.36590612e-02 5.06315500e-01 2.56556229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.704206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.11, Y:1.22, Z:2.58 [[-4.17507063e-03 9.95557120e-01 9.40669412e-02 1.21057613e+01] [-5.11285638e-01 7.87173977e-02 -8.55798205e-01 1.21564220e+00] [-8.59400701e-01 -5.16680940e-02 5.08685407e-01 2.57782696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.734206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.10, Y:1.18, Z:2.59 [[ 0.01694769 0.99603594 0.08732232 12.09862427] [-0.50934646 0.08375374 -0.85647621 1.18017354] [-0.86039466 -0.02996202 0.50874681 2.58816483] [ 0. 0. 0. 1. ]] SLAMing on 22.764206098999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.11, Y:1.15, Z:2.60 [[ 8.37005461e-03 9.96218795e-01 8.64757418e-02 1.21074459e+01] [-5.08933900e-01 7.86844938e-02 -8.57201864e-01 1.14641641e+00] [-8.60764908e-01 -3.68356101e-02 5.07668111e-01 2.59660201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.794206098999997 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:12.11, Y:1.11, Z:2.61 [[ 5.71759020e-03 9.96288087e-01 8.58915373e-02 1.21120765e+01] [-5.03399327e-01 7.70833590e-02 -8.60608665e-01 1.11323341e+00] [-8.64034969e-01 -3.83171344e-02 5.01971484e-01 2.61013420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.824206098999998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:12.12, Y:1.08, Z:2.62 [[ 5.37450869e-03 9.96393282e-01 8.46849554e-02 1.21169511e+01] [-5.08739380e-01 7.56321475e-02 -8.57591990e-01 1.07889713e+00] [-8.60903803e-01 -3.84734361e-02 5.07310986e-01 2.61507986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.854206098999995 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:12.10, Y:1.04, Z:2.62 [[ 3.98479911e-02 9.96371806e-01 7.52021437e-02 1.21012369e+01] [-5.10297578e-01 8.49997475e-02 -8.55787021e-01 1.04385541e+00] [-8.59074223e-01 -4.27407820e-03 5.11833188e-01 2.61974530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.884206098999996 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:12.63, Y:0.82, Z:2.05 [[-0.93837251 -0.05639043 0.34099435 12.63144263] [-0.30084595 -0.35241604 -0.88616852 0.81856366] [ 0.1701433 -0.93414295 0.31373269 2.05328774] [ 0. 0. 0. 1. ]] SLAMing on 22.914206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.11, Y:0.93, Z:2.60 [[ 4.42469497e-02 9.96154482e-01 7.56204639e-02 1.21119712e+01] [-5.68487840e-01 8.73504189e-02 -8.18041246e-01 9.25782585e-01] [-8.21500933e-01 -6.79348430e-03 5.70166699e-01 2.59586458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.944206099 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:12.13, Y:0.90, Z:2.61 [[ 0.0185992 0.99638375 0.08290657 12.12823823] [-0.56742829 0.07879255 -0.81964435 0.89783884] [-0.82321273 -0.03179881 0.56684181 2.60788652] [ 0. 0. 0. 1. ]] SLAMing on 22.974206098999996 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:12.11, Y:0.86, Z:2.62 [[ 5.04925418e-02 9.96124194e-01 7.20214762e-02 1.21146823e+01] [-5.69370320e-01 8.79574910e-02 -8.17362171e-01 8.62944343e-01] [-8.20529062e-01 2.63802638e-04 5.71604749e-01 2.61573293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.004206098999997 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:12.13, Y:0.83, Z:2.63 [[ 0.02898472 0.99660545 0.07705493 12.12967918] [-0.57313863 0.07972665 -0.81557083 0.83245952] [-0.81894567 -0.02052407 0.57350393 2.62563324] [ 0. 0. 0. 1. ]] SLAMing on 23.034206099 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:12.13, Y:0.80, Z:2.64 [[ 0.02739636 0.99663484 0.07725562 12.1344366 ] [-0.57630594 0.0788952 -0.81341687 0.80239639] [-0.81677469 -0.02223821 0.57652802 2.63514506] [ 0. 0. 0. 1. ]] SLAMing on 23.064206098999996 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:12.17, Y:0.77, Z:2.65 [[-0.02604298 0.99550133 0.0910981 12.16638283] [-0.57990058 0.05918427 -0.81253464 0.77290031] [-0.81427089 -0.07398867 0.57575047 2.64585257] [ 0. 0. 0. 1. ]] SLAMing on 23.094206098999997 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:12.12, Y:0.74, Z:2.66 [[ 0.06414704 0.9958385 0.06473667 12.12284812] [-0.57333129 0.08987174 -0.8143797 0.73715673] [-0.81680866 0.01512449 0.57671038 2.65532385] [ 0. 0. 0. 1. ]] SLAMing on 23.124206099 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:12.15, Y:0.71, Z:2.67 [[ 0.02879789 0.99675691 0.07514217 12.14561117] [-0.57724727 0.07795487 -0.81283986 0.70963744] [-0.81606144 -0.01996754 0.57762014 2.66581248] [ 0. 0. 0. 1. ]] SLAMing on 23.154206098999996 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:12.15, Y:0.68, Z:2.68 [[ 0.02383716 0.99679084 0.07641867 12.15228207] [-0.58012857 0.0760457 -0.81096726 0.6784533 ] [-0.81417605 -0.0250015 0.58007955 2.67617049] [ 0. 0. 0. 1. ]] SLAMing on 23.184206098999997 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:12.16, Y:0.65, Z:2.69 [[ 0.01600429 0.99687687 0.0773328 12.15933005] [-0.58246948 0.07215936 -0.80964334 0.64897783] [-0.812695 -0.03208623 0.58180521 2.68573929] [ 0. 0. 0. 1. ]] SLAMing on 23.214206099 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:12.18, Y:0.62, Z:2.70 [[-7.84123654e-03 9.96474915e-01 8.35239954e-02 1.21753049e+01] [-5.82825643e-01 6.33181372e-02 -8.10126585e-01 6.19599250e-01] [-8.12559404e-01 -5.50323205e-02 5.80274641e-01 2.70155350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.244206098999996 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:12.15, Y:0.59, Z:2.71 [[ 5.03768442e-02 9.96267967e-01 7.00878912e-02 1.21481625e+01] [-5.81513471e-01 8.63141871e-02 -8.08944958e-01 5.86219980e-01] [-8.11975527e-01 -4.95873823e-06 5.83691479e-01 2.70865597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.274206098999997 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:12.17, Y:0.56, Z:2.72 [[ 0.01438261 0.9968285 0.07826928 12.17084925] [-0.58799001 0.07174438 -0.80568015 0.55746472] [-0.80874031 -0.03443377 0.58715707 2.71978643] [ 0. 0. 0. 1. ]] SLAMing on 23.304206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.17, Y:0.53, Z:2.73 [[ 0.02915345 0.9968822 0.07332085 12.16687792] [-0.58755949 0.07643226 -0.80556313 0.52582963] [-0.80865563 -0.01959542 0.58795586 2.72958177] [ 0. 0. 0. 1. ]] SLAMing on 23.334206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.18, Y:0.50, Z:2.74 [[ 3.63624594e-03 9.96974148e-01 7.76487289e-02 1.21824514e+01] [-5.90350797e-01 6.48143083e-02 -8.04540267e-01 4.98293881e-01] [-8.07138596e-01 -4.29144828e-02 5.88800164e-01 2.73914287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.364206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.19, Y:0.46, Z:2.75 [[ 4.52752861e-04 9.97004155e-01 7.73466874e-02 1.21870350e+01] [-5.95992940e-01 6.23776233e-02 -8.00563207e-01 4.63603887e-01] [-8.02989546e-01 -4.57356223e-02 5.94235679e-01 2.75339449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.394206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.18, Y:0.43, Z:2.77 [[ 0.02776321 0.99710737 0.07075375 12.17579412] [-0.58462474 0.07361002 -0.80795759 0.43360879] [-0.81082866 -0.0189329 0.58497729 2.77329339] [ 0. 0. 0. 1. ]] SLAMing on 23.424206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.18, Y:0.40, Z:2.79 [[ 0.0266276 0.99719783 0.06991031 12.18118839] [-0.58529657 0.07224665 -0.80759417 0.39958371] [-0.81038194 -0.01941397 0.58558023 2.78744106] [ 0. 0. 0. 1. ]] SLAMing on 23.454206098999997 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:12.17, Y:0.36, Z:2.79 [[ 5.84443691e-02 9.96479960e-01 6.00994542e-02 1.21676735e+01] [-5.84837385e-01 8.29665302e-02 -8.06896392e-01 3.61745601e-01] [-8.09042328e-01 1.20101430e-02 5.87627661e-01 2.79484947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.484206098999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:12.20, Y:0.33, Z:2.81 [[ 6.19184553e-03 9.97130137e-01 7.54529721e-02 1.21978777e+01] [-5.93002438e-01 6.44166986e-02 -8.02619834e-01 3.29181718e-01] [-8.05176856e-01 -3.97740984e-02 5.91699460e-01 2.80962731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.514206098999995 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:12.19, Y:0.30, Z:2.82 [[ 3.66492795e-02 9.97047647e-01 6.74745819e-02 1.21851716e+01] [-5.89823921e-01 7.60867312e-02 -8.03939395e-01 2.95697614e-01] [-8.06699803e-01 -1.03343228e-02 5.90871077e-01 2.82253184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.544206098999997 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:12.19, Y:0.26, Z:2.84 [[ 3.60662813e-02 9.97124880e-01 6.66423065e-02 1.21887969e+01] [-5.89859321e-01 7.50708789e-02 -8.04008920e-01 2.63009633e-01] [-8.06700195e-01 -1.03119738e-02 5.90870932e-01 2.83512082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.574206098999998 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:12.19, Y:0.23, Z:2.85 [[ 3.96436805e-02 9.97039035e-01 6.58903700e-02 1.21917108e+01] [-5.89034899e-01 7.65851288e-02 -8.04470388e-01 2.30180181e-01] [-8.07134602e-01 -6.91956037e-03 5.90326904e-01 2.84711598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.604206098999995 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:12.20, Y:0.20, Z:2.86 [[ 3.46409086e-02 9.97269049e-01 6.52261613e-02 1.21971582e+01] [-5.87653598e-01 7.31159199e-02 -8.05802278e-01 1.97717856e-01] [-8.08370742e-01 -1.04166653e-02 5.88581547e-01 2.85968369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.634206098999996 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:12.19, Y:0.16, Z:2.87 [[ 0.06084033 0.99650313 0.05727101 12.18579304] [-0.58637077 0.08211512 -0.80586998 0.16489354] [-0.80775477 0.01544735 0.58931622 2.86900101] [ 0. 0. 0. 1. ]] SLAMing on 23.664206098999998 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:12.22, Y:0.14, Z:2.88 [[ 5.46827183e-04 9.97402161e-01 7.20321431e-02 1.22205402e+01] [-5.92531739e-01 5.83484591e-02 -8.03431139e-01 1.36275784e-01] [-8.05546919e-01 -4.22419930e-02 5.91024344e-01 2.88356213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.694206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.21, Y:0.10, Z:2.90 [[ 3.36986125e-02 9.97459767e-01 6.27568080e-02 1.22054201e+01] [-5.90060723e-01 7.05369293e-02 -8.04271649e-01 1.02819615e-01] [-8.06655284e-01 -9.92748888e-03 5.90938827e-01 2.89595848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.724206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.19, Y:0.07, Z:2.91 [[ 0.06164673 0.99659093 0.05482874 12.19291804] [-0.58612083 0.08061037 -0.80620366 0.06973162] [-0.80787502 0.01756355 0.58909208 2.90547513] [ 0. 0. 0. 1. ]] SLAMing on 23.754206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.23, Y:0.04, Z:2.92 [[ 1.43533269e-03 9.97542069e-01 7.00554138e-02 1.22287956e+01] [-5.92453268e-01 5.72852848e-02 -8.03565505e-01 4.04025534e-02] [-8.05603541e-01 -4.03511750e-02 5.91079282e-01 2.91988414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.784206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.22, Y:0.01, Z:2.93 [[ 3.35649193e-02 9.97610798e-01 6.03828773e-02 1.22152740e+01] [-5.89368958e-01 6.85511188e-02 -8.04950294e-01 7.34831776e-03] [-8.07166419e-01 -8.56970190e-03 5.90261750e-01 2.93410924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.814206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.03, Z:2.94 [[ 0.05658 0.99689467 0.05476971 12.20607367] [-0.58869425 0.07761819 -0.80462072 -0.02553488] [-0.80637323 0.01328282 0.5912578 2.94346325] [ 0. 0. 0. 1. ]] SLAMing on 23.844206098999997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.06, Z:2.96 [[ 1.02452585e-02 9.97764886e-01 6.60323143e-02 1.22351983e+01] [-5.93263492e-01 5.92230275e-02 -8.02826919e-01 -5.66569001e-02] [-8.04943143e-01 -3.09493920e-02 5.92544236e-01 2.95642135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.874206099 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.09, Z:2.97 [[ 0.06342673 0.99663912 0.05184131 12.2098488 ] [-0.58924376 0.07932352 -0.80405197 -0.09010111] [-0.80546188 0.02045122 0.59229461 2.96538472] [ 0. 0. 0. 1. ]] SLAMing on 23.904206098999996 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.12, Z:2.98 [[ 0.01241543 0.99789286 0.0636844 12.24056537] [-0.59138078 0.05868436 -0.80425427 -0.11963011] [-0.80629687 -0.02767657 0.59086324 2.97914017] [ 0. 0. 0. 1. ]] SLAMing on 23.934206098999997 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.15, Z:2.99 [[ 0.01986051 0.99796853 0.06053406 12.23970777] [-0.59325121 0.06049834 -0.8027409 -0.15202527] [-0.80477236 -0.01996906 0.59324757 2.99200638] [ 0. 0. 0. 1. ]] SLAMing on 23.964206099 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.18, Z:3.00 [[ 3.70772115e-02 9.97805233e-01 5.48634470e-02 1.22341267e+01] [-5.92961205e-01 6.61589379e-02 -8.02508569e-01 -1.84406518e-01] [-8.04376957e-01 -2.77711574e-03 5.94112783e-01 3.00485004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.994206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.22, Z:3.02 [[ 3.18923906e-02 9.98030046e-01 5.40268730e-02 1.22386758e+01] [-5.94200926e-01 6.23971610e-02 -8.01892670e-01 -2.16475323e-01] [-8.03684102e-01 -6.52854367e-03 5.95020372e-01 3.01766510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.024206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.25, Z:3.03 [[ 2.94961065e-02 9.98145290e-01 5.32537304e-02 1.22413662e+01] [-5.93904379e-01 6.03536051e-02 -8.02268677e-01 -2.49186378e-01] [-8.03994756e-01 -7.96382138e-03 5.94583055e-01 3.03023626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.054206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.28, Z:3.04 [[ 2.87105992e-02 9.98214192e-01 5.23844315e-02 1.22436989e+01] [-5.94747292e-01 5.91794848e-02 -8.01731531e-01 -2.81394622e-01] [-8.03399876e-01 -8.13730613e-03 5.95384266e-01 3.04244999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.084206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.31, Z:3.06 [[ 3.06071556e-02 9.98199600e-01 5.15825581e-02 1.22458559e+01] [-5.94610193e-01 5.96654990e-02 -8.01797198e-01 -3.13711605e-01] [-8.03431341e-01 -6.13078324e-03 5.95365848e-01 3.05508386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.114206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.35, Z:3.07 [[ 2.93200432e-02 9.98278590e-01 5.07955794e-02 1.22496427e+01] [-5.94401638e-01 5.82690094e-02 -8.02054497e-01 -3.45978798e-01] [-8.03633641e-01 -6.67670308e-03 5.95086879e-01 3.06639307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.144206098999998 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.38, Z:3.08 [[ 2.67306561e-02 9.98387893e-01 5.00708284e-02 1.22521458e+01] [-5.93065704e-01 5.61601140e-02 -8.03193073e-01 -3.78829581e-01] [-8.04710223e-01 -8.22541329e-03 5.93610815e-01 3.07861572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.174206098999996 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.41, Z:3.09 [[ 2.14119065e-02 9.98558617e-01 4.92160308e-02 1.22565039e+01] [-5.92289813e-01 5.23283470e-02 -8.04023956e-01 -4.12083380e-01] [-8.05440443e-01 -1.19344679e-02 5.92556547e-01 3.09167637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.204206098999997 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.44, Z:3.10 [[ 2.48779169e-02 9.98520791e-01 4.83458371e-02 1.22579593e+01] [-5.92067792e-01 5.36836197e-02 -8.04098128e-01 -4.44843222e-01] [-8.05504078e-01 -8.61972662e-03 5.92527536e-01 3.10485240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.234206098999998 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.48, Z:3.11 [[ 0.05821254 0.99743528 0.04164334 12.24439361] [-0.5885194 0.06798226 -0.80561984 -0.47805557] [-0.80638466 0.02238926 0.59096743 3.11210939] [ 0. 0. 0. 1. ]] SLAMing on 24.264206098999995 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.51, Z:3.12 [[ 0.01869376 0.99873216 0.04673979 12.26326929] [-0.59297424 0.04871363 -0.80374656 -0.51029346] [-0.80500441 -0.01269044 0.59313308 3.12398798] [ 0. 0. 0. 1. ]] SLAMing on 24.294206098999997 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.54, Z:3.14 [[ 1.06362347e-02 9.98773663e-01 4.83532921e-02 1.22695431e+01] [-5.94424969e-01 4.51997540e-02 -8.02879778e-01 -5.42277235e-01] [-8.04080734e-01 -2.02027864e-02 5.94176759e-01 3.13707832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.324206098999998 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.57, Z:3.15 [[-0.02453501 0.99821868 0.05438283 12.28910362] [-0.59731469 0.02898342 -0.80148308 -0.57406954] [-0.80163158 -0.05214805 0.59553958 3.15158601] [ 0. 0. 0. 1. ]] SLAMing on 24.354206098999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.60, Z:3.16 [[ 2.06263387e-02 9.98923714e-01 4.15447768e-02 1.22681852e+01] [-5.95602377e-01 4.56523568e-02 -8.01981091e-01 -6.03163011e-01] [-8.03014547e-01 -8.20223419e-03 5.95902979e-01 3.16180627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.384206098999996 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.64, Z:3.17 [[ 0.01255197 0.99905817 0.04153586 12.27493377] [-0.60072352 0.04074162 -0.79841804 -0.63571376] [-0.79935831 -0.01492985 0.60066913 3.16982885] [ 0. 0. 0. 1. ]] SLAMing on 24.414206098999998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.88, Z:2.77 [[-0.93361715 0.22324629 0.28021439 12.79587184] [-0.35206548 -0.42672244 -0.83304133 -0.87960604] [-0.06639962 -0.87639549 0.4769927 2.77305264] [ 0. 0. 0. 1. ]] SLAMing on 24.444206098999995 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.74, Z:3.15 [[ 1.92356048e-03 9.99519261e-01 3.09442480e-02 1.22941318e+01] [-6.54026554e-01 2.46659149e-02 -7.56069348e-01 -7.44901527e-01] [-7.56469144e-01 -1.87840148e-02 6.53759584e-01 3.14974296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.474206098999996 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:12.82, Y:-1.09, Z:2.67 [[-9.59961065e-01 -9.71524300e-03 2.79964940e-01 1.28211792e+01] [-2.35933572e-01 -5.10772769e-01 -8.26708248e-01 -1.08673707e+00] [ 1.51030139e-01 -8.59660859e-01 4.88029820e-01 2.66569811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.504206098999997 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:12.35, Y:-0.86, Z:3.14 [[-0.07447879 0.99631167 0.04261404 12.34674214] [-0.70838654 -0.02278143 -0.70545695 -0.86105024] [-0.70188419 -0.0827288 0.70747052 3.13511822] [ 0. 0. 0. 1. ]] SLAMing on 24.534206099 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.89, Z:3.15 [[-0.05746305 0.99761862 0.03814557 12.33915853] [-0.70931994 -0.01390974 -0.70474942 -0.88879894] [-0.70254055 -0.06755447 0.70843007 3.15145727] [ 0. 0. 0. 1. ]] SLAMing on 24.564206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.91, Z:3.17 [[-4.62677198e-02 9.98393614e-01 3.27030393e-02 1.23358045e+01] [-7.08327531e-01 -9.70592390e-03 -7.05817189e-01 -9.14681780e-01] [-7.04365961e-01 -5.58210150e-02 7.07638755e-01 3.16608922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.594206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.94, Z:3.18 [[-0.10722702 0.99310157 0.04745153 12.36903774] [-0.70969801 -0.04302815 -0.70319081 -0.94337498] [-0.69629814 -0.10907731 0.70941599 3.17807808] [ 0. 0. 0. 1. ]] SLAMing on 24.624206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.97, Z:3.20 [[-0.04961591 0.99830276 0.03049367 12.34125228] [-0.71000184 -0.01378125 -0.70406496 -0.97211861] [-0.70244975 -0.05658338 0.70948056 3.19750987] [ 0. 0. 0. 1. ]] SLAMing on 24.654206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.35, Y:-1.00, Z:3.21 [[-0.06326916 0.99743481 0.03347844 12.35035177] [-0.71124981 -0.02153315 -0.70260945 -1.00065304] [-0.70008623 -0.06826505 0.7107877 3.21176759] [ 0. 0. 0. 1. ]] SLAMing on 24.684206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.35, Y:-1.03, Z:3.23 [[-0.06357052 0.99749072 0.03116186 12.35347542] [-0.71440048 -0.02368161 -0.69933621 -1.03022271] [-0.69684342 -0.06671921 0.7141133 3.2274156 ] [ 0. 0. 0. 1. ]] SLAMing on 24.714206099 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:12.35, Y:-1.06, Z:3.24 [[-0.06166172 0.99768224 0.02877469 12.353294 ] [-0.71171417 -0.02373875 -0.70206795 -1.05769818] [-0.69975765 -0.06377007 0.71152836 3.24167548] [ 0. 0. 0. 1. ]] SLAMing on 24.744206098999996 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.09, Z:3.26 [[-0.06265212 0.99768088 0.02660013 12.35615921] [-0.71435109 -0.02621503 -0.69929628 -1.08550762] [-0.69697721 -0.06281423 0.71433685 3.25881292] [ 0. 0. 0. 1. ]] SLAMing on 24.774206098999997 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.11, Z:3.27 [[-0.05979858 0.99781253 0.02818289 12.35586021] [-0.71163196 -0.02281497 -0.7021819 -1.11121066] [-0.70000291 -0.06204533 0.7114396 3.27376857] [ 0. 0. 0. 1. ]] SLAMing on 24.804206098999998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.14, Z:3.29 [[-0.06021241 0.99795889 0.02127263 12.35773299] [-0.71596745 -0.02832904 -0.69755866 -1.14188211] [-0.69553223 -0.0572322 0.71621184 3.28957572] [ 0. 0. 0. 1. ]] SLAMing on 24.834206098999996 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.17, Z:3.31 [[-0.05924638 0.99798811 0.02257424 12.35760862] [-0.71432599 -0.02658838 -0.69930783 -1.16788583] [-0.69730069 -0.05755682 0.71446411 3.30680617] [ 0. 0. 0. 1. ]] SLAMing on 24.864206098999997 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.20, Z:3.32 [[-0.06885469 0.99734086 0.02387951 12.36396347] [-0.71504917 -0.03264597 -0.69831148 -1.19575842] [-0.695675 -0.06515704 0.71539559 3.32204524] [ 0. 0. 0. 1. ]] SLAMing on 24.894206098999998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.22, Z:3.34 [[-0.06578273 0.99758488 0.02229416 12.36439119] [-0.71700152 -0.03171839 -0.6963496 -1.22388395] [-0.6939607 -0.06179272 0.7173564 3.33700289] [ 0. 0. 0. 1. ]] SLAMing on 24.924206098999996 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:12.37, Y:-1.25, Z:3.35 [[-0.07184018 0.99708497 0.02570112 12.36877203] [-0.72149323 -0.03415743 -0.69157848 -1.2526692 ] [-0.68868463 -0.0682263 0.72184393 3.34994722] [ 0. 0. 0. 1. ]] SLAMing on 24.954206098999997 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:12.37, Y:-1.28, Z:3.37 [[-0.07422649 0.99700801 0.02157458 12.37214449] [-0.71950353 -0.03856141 -0.6934174 -1.27912932] [-0.69051075 -0.06699293 0.72021306 3.3682123 ] [ 0. 0. 0. 1. ]] SLAMing on 24.984206098999998 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.31, Z:3.38 [[-0.04446197 0.99893118 0.0126348 12.35615277] [-0.72398497 -0.0235043 -0.6894152 -1.30940261] [-0.68838136 -0.03980016 0.7242562 3.38327119] [ 0. 0. 0. 1. ]] SLAMing on 25.014206098999995 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.33, Z:3.40 [[-3.95149042e-02 9.99153238e-01 1.14621078e-02 1.23550376e+01] [-7.23178724e-01 -2.06809696e-02 -6.90351237e-01 -1.33280098e+00] [-6.89529626e-01 -3.55683155e-02 7.23383570e-01 3.39855188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.044206098999997 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.36, Z:3.42 [[-0.05034349 0.99861825 0.0150705 12.36197276] [-0.72203092 -0.02596609 -0.69137335 -1.36154837] [-0.69002672 -0.04568751 0.72234048 3.41840367] [ 0. 0. 0. 1. ]] SLAMing on 25.074206098999998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.39, Z:3.43 [[-4.11883867e-02 9.99094032e-01 1.07066026e-02 1.23588303e+01] [-7.23587890e-01 -2.24376088e-02 -6.89867465e-01 -1.38860002e+00] [-6.89002236e-01 -3.61616959e-02 7.23856512e-01 3.43468547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.104206098999995 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:12.37, Y:-1.42, Z:3.45 [[-0.06865069 0.99749596 0.01699689 12.37393669] [-0.72578511 -0.03824698 -0.68685744 -1.41800382] [-0.68448744 -0.05948933 0.7265934 3.45138807] [ 0. 0. 0. 1. ]] SLAMing on 25.134206098999996 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.44, Z:3.47 [[-3.63877470e-02 9.99304198e-01 8.18847510e-03 1.23572391e+01] [-7.26654990e-01 -2.08329172e-02 -6.86686621e-01 -1.44493853e+00] [-6.86038234e-01 -3.09371754e-02 7.26907445e-01 3.47137632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.164206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.47, Z:3.49 [[-3.44747475e-02 9.99376471e-01 7.62633749e-03 1.23574974e+01] [-7.26075361e-01 -1.98018016e-02 -6.87329948e-01 -1.47295028e+00] [-6.86750363e-01 -2.92328221e-02 7.26305295e-01 3.48854195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.194206098999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.50, Z:3.50 [[-3.76663200e-02 9.99264418e-01 7.20221303e-03 1.23595034e+01] [-7.26863300e-01 -2.24510725e-02 -6.86415102e-01 -1.50172055e+00] [-6.85748490e-01 -3.10897552e-02 7.27174282e-01 3.50448638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.224206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.53, Z:3.52 [[-3.54328381e-02 9.99350487e-01 6.56643616e-03 1.23589561e+01] [-7.27006540e-01 -2.12671660e-02 -6.86301099e-01 -1.52954563e+00] [-6.85715688e-01 -2.90914378e-02 7.27287895e-01 3.52317387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.254206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.56, Z:3.54 [[-3.81837713e-02 9.99252680e-01 6.00682816e-03 1.23606832e+01] [-7.26958959e-01 -2.36533848e-02 -6.86273407e-01 -1.55820257e+00] [-6.85618459e-01 -3.05712244e-02 7.27318863e-01 3.54004213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.284206098999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.32, Y:-1.59, Z:3.55 [[ 0.0338407 0.99933163 -0.01382401 12.32387471] [-0.73077086 0.01530582 -0.68245123 -1.5894634 ] [-0.68178351 0.03319681 0.7308004 3.55262018] [ 0. 0. 0. 1. ]] SLAMing on 25.314206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.61, Z:3.57 [[-3.53842168e-02 9.99350843e-01 6.77117681e-03 1.23606458e+01] [-7.30906648e-01 -2.12574254e-02 -6.82146314e-01 -1.61195423e+00] [-6.81559556e-01 -2.90863112e-02 7.31184353e-01 3.56565923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.344206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.64, Z:3.58 [[-2.40076242e-02 9.99706671e-01 3.19482682e-03 1.23553392e+01] [-7.31894231e-01 -1.53991013e-02 -6.81244231e-01 -1.64078363e+00] [-6.80995205e-01 -1.86933308e-02 7.32049240e-01 3.58289408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.374206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.37, Y:-1.67, Z:3.60 [[-0.054414 0.99843976 0.01253678 12.37201004] [-0.73118704 -0.03129233 -0.68145895 -1.67059492] [-0.6800034 -0.04624763 0.73174895 3.60456921] [ 0. 0. 0. 1. ]] SLAMing on 25.404206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.70, Z:3.62 [[-2.45118040e-02 9.99690758e-01 4.19038314e-03 1.23563196e+01] [-7.32000046e-01 -1.50930825e-02 -6.81137381e-01 -1.69840266e+00] [-6.80863499e-01 -1.97632667e-02 7.32143640e-01 3.62338161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.434206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.73, Z:3.64 [[-2.51606958e-02 9.99677111e-01 3.55153782e-03 1.23573307e+01] [-7.31977203e-01 -1.60031244e-02 -6.81141156e-01 -1.72687358e+00] [-6.80864387e-01 -1.97376301e-02 7.32143505e-01 3.64109577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.464206099 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:12.34, Y:-1.76, Z:3.66 [[ 9.90890034e-03 9.99921212e-01 -7.70605372e-03 1.23391927e+01] [-7.33164522e-01 2.02452500e-03 -6.80048296e-01 -1.75624105e+00] [-6.79979115e-01 1.23883360e-02 7.33126819e-01 3.65594125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.494206098999996 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:12.37, Y:-1.78, Z:3.67 [[-5.27457849e-02 9.98545155e-01 1.12006594e-02 1.23729105e+01] [-7.32781919e-01 -3.10826930e-02 -6.79753283e-01 -1.78355060e+00] [-6.78416201e-01 -4.40617611e-02 7.33355316e-01 3.67345291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.524206098999997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.81, Z:3.69 [[-2.17205268e-02 9.99761432e-01 2.30150546e-03 1.23563568e+01] [-7.33220942e-01 -1.43647195e-02 -6.79838735e-01 -1.81166687e+00] [-6.79643487e-01 -1.64539675e-02 7.33358028e-01 3.69101472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.554206098999998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.84, Z:3.71 [[-2.10832075e-02 9.99776339e-01 1.66426723e-03 1.23557893e+01] [-7.33392796e-01 -1.43343527e-02 -6.79653981e-01 -1.83988824e+00] [-6.79478113e-01 -1.55498475e-02 7.33530979e-01 3.70886138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.584206098999996 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.87, Z:3.73 [[-2.05450023e-02 9.99788361e-01 1.06617818e-03 1.23559489e+01] [-7.33396405e-01 -1.43460392e-02 -6.79649839e-01 -1.86809740e+00] [-6.79490703e-01 -1.47453388e-02 7.33535929e-01 3.72618417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.614206098999997 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.90, Z:3.74 [[-1.76948917e-02 9.99843206e-01 6.73350868e-04 1.23559924e+01] [-7.33317823e-01 -1.25202184e-02 -6.79770708e-01 -1.89572135e+00] [-6.79655693e-01 -1.25222493e-02 7.33424387e-01 3.74341947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.644206098999998 meters Centerline goodness : 0.999940 Centerline is valid? [True, True] Translation: X:12.34, Y:-1.92, Z:3.75 [[ 1.01328768e-02 9.99904709e-01 -9.37540627e-03 1.23411938e+01] [-7.34860270e-01 1.08778606e-03 -6.78217664e-01 -1.92215678e+00] [-6.78142838e-01 1.37619096e-02 7.34801267e-01 3.75404438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.674206098999996 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.95, Z:3.77 [[-3.40019116e-02 9.99415481e-01 3.54500427e-03 1.23638031e+01] [-7.34358828e-01 -2.25779205e-02 -6.78385841e-01 -1.95322205e+00] [-6.77909272e-01 -2.56697205e-02 7.34697274e-01 3.77424599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.704206098999997 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.95, Z:3.77 [[-2.60330180e-02 9.99619380e-01 9.13112701e-03 1.23605232e+01] [-7.33748481e-01 -1.29038366e-02 -6.79298651e-01 -1.94886172e+00] [-6.78922269e-01 -2.43841446e-02 7.33805128e-01 3.77277669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.734206098999998 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.98, Z:3.79 [[-1.59893890e-02 9.99851909e-01 6.36393607e-03 1.23556316e+01] [-7.37684011e-01 -7.49990555e-03 -6.75104475e-01 -1.97735214e+00] [-6.74956769e-01 -1.54890819e-02 7.37694685e-01 3.78768042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.764206098999995 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:12.35, Y:-2.00, Z:3.80 [[-1.26798157e-02 9.99906615e-01 5.09734843e-03 1.23542284e+01] [-7.36416509e-01 -5.88980516e-03 -6.76502798e-01 -2.00492032e+00] [-6.76409601e-01 -1.23317024e-02 7.36422420e-01 3.80357574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.794206098999997 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:12.36, Y:-2.03, Z:3.82 [[-2.64380706e-02 9.99636013e-01 5.37303709e-03 1.23629062e+01] [-7.41606495e-01 -1.60090763e-02 -6.70644106e-01 -2.03103658e+00] [-6.70313983e-01 -2.17152154e-02 7.41759809e-01 3.81707455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.824206098999998 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:12.38, Y:-2.06, Z:3.84 [[-0.0547219 0.99839566 0.01454706 12.37695491] [-0.73610482 -0.03049354 -0.67618033 -2.05675183] [-0.67465192 -0.04771004 0.73659252 3.84034021] [ 0. 0. 0. 1. ]] SLAMing on 25.854206098999995 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:12.36, Y:-2.09, Z:3.85 [[-1.70480110e-02 9.99842820e-01 4.86828448e-03 1.23573557e+01] [-7.43502627e-01 -9.42146238e-03 -6.68666643e-01 -2.08703181e+00] [-6.68515676e-01 -1.50190186e-02 7.43546381e-01 3.85445884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.884206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.34, Y:-2.11, Z:3.87 [[ 9.81320367e-03 9.99950363e-01 -1.72394776e-03 1.23436197e+01] [-7.43261464e-01 6.14080667e-03 -6.68972859e-01 -2.11445554e+00] [-6.68929067e-01 7.84611086e-03 7.43284832e-01 3.86897437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.914206098999998 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:12.37, Y:-2.14, Z:3.89 [[-0.04636787 0.9988417 0.01285601 12.37451318] [-0.74528078 -0.026022 -0.66624276 -2.14269361] [-0.66513651 -0.04047359 0.74562411 3.88847742] [ 0. 0. 0. 1. ]] SLAMing on 25.944206098999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.36, Y:-2.17, Z:3.90 [[-1.35728461e-02 9.99906489e-01 1.67045183e-03 1.23581253e+01] [-7.44626786e-01 -8.99265196e-03 -6.67420469e-01 -2.16978199e+00] [-6.67343036e-01 -1.03026585e-02 7.44679211e-01 3.90442675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.974206098999996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:12.37, Y:-2.20, Z:3.92 [[-3.60370022e-02 9.99323934e-01 7.28077311e-03 1.23691382e+01] [-7.44437175e-01 -2.19834643e-02 -6.67330518e-01 -2.19853382e+00] [-6.66719301e-01 -2.94686695e-02 7.44726105e-01 3.92262647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.004206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.36, Y:-2.23, Z:3.94 [[-1.06341876e-02 9.99941409e-01 2.02306274e-03 1.23566010e+01] [-7.42100094e-01 -6.53604215e-03 -6.70257213e-01 -2.22581876e+00] [-6.70204719e-01 -8.62895596e-03 7.42126119e-01 3.94207491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.034206098999995 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:12.36, Y:-2.25, Z:3.96 [[-1.06074604e-02 9.99942702e-01 1.44016272e-03 1.23573698e+01] [-7.41635050e-01 -6.90124464e-03 -6.70768086e-01 -2.25347580e+00] [-6.70719714e-01 -8.18322105e-03 7.41665760e-01 3.95924594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.064206098999996 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:12.36, Y:-2.28, Z:3.98 [[-2.05866125e-02 9.99787669e-01 8.98859251e-04 1.23623892e+01] [-7.41935584e-01 -1.46745414e-02 -6.70310560e-01 -2.28118235e+00] [-6.70155042e-01 -1.44663194e-02 7.42080147e-01 3.97665326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.094206098999997 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:12.36, Y:-2.31, Z:3.99 [[-1.81363723e-02 9.99835484e-01 2.77664813e-04 1.23614045e+01] [-7.41859633e-01 -1.32706726e-02 -6.70423877e-01 -2.30901651e+00] [-6.70309896e-01 -1.23650454e-02 7.41978267e-01 3.99473375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.124206098999995 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:12.36, Y:-2.34, Z:4.01 [[-2.27207459e-02 9.99741787e-01 -3.55524959e-04 1.23635420e+01] [-7.42466704e-01 -1.71118982e-02 -6.69664376e-01 -2.33676423e+00] [-6.69497544e-01 -1.49513087e-02 7.42663785e-01 4.01348282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.154206098999996 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:12.34, Y:-2.89, Z:3.15 [[ 0.04474783 -0.99596459 0.07779572 12.33588611] [ 0.30826441 -0.06030747 -0.94938721 -2.89254836] [ 0.9502477 0.06646467 0.3043218 3.15436927] [ 0. 0. 0. 1. ]] SLAMing on 26.184206098999997 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:12.34, Y:-2.36, Z:4.03 [[ 5.44911477e-02 9.96479814e-01 6.37078955e-02 1.23377963e+01] [-7.38339500e-01 8.31642725e-02 -6.69282068e-01 -2.36491542e+00] [-6.72224292e-01 -1.05681077e-02 7.40272124e-01 4.03121835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.214206099 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:12.34, Y:-2.39, Z:4.05 [[ 5.17388088e-02 9.96663701e-01 6.31233953e-02 1.23423275e+01] [-7.38607850e-01 8.07315036e-02 -6.69283847e-01 -2.39199015e+00] [-6.72146962e-01 -1.19954863e-02 7.40320585e-01 4.04967496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.244206098999996 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:12.35, Y:-2.42, Z:4.07 [[ 5.12936066e-02 9.96721866e-01 6.25658652e-02 1.23455976e+01] [-7.38238881e-01 8.00343181e-02 -6.69774486e-01 -2.42001119e+00] [-6.72586292e-01 -1.18334053e-02 7.39924084e-01 4.06721839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.274206098999997 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:12.35, Y:-2.45, Z:4.08 [[ 5.28822905e-02 9.96655956e-01 6.22926018e-02 1.23476541e+01] [-7.38952066e-01 8.10140213e-02 -6.68869623e-01 -2.44747686e+00] [-6.71679468e-01 -1.06598890e-02 7.40765185e-01 4.08450586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.304206098999998 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:12.34, Y:-2.47, Z:4.10 [[ 6.43900169e-02 9.96231073e-01 5.81169129e-02 1.23444976e+01] [-7.38187515e-01 8.67387978e-02 -6.68995944e-01 -2.47273456e+00] [-6.71515538e-01 1.75480634e-04 7.40990453e-01 4.09803083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.334206098999996 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:12.36, Y:-2.50, Z:4.11 [[ 0.03918464 0.99725462 0.06283144 12.35998858] [-0.74088623 0.0711886 -0.66784712 -2.49986703] [-0.67048651 -0.0203816 0.74164171 4.11437544] [ 0. 0. 0. 1. ]] SLAMing on 26.364206098999997 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:12.37, Y:-2.53, Z:4.14 [[ 0.02239476 0.99759329 0.06562097 12.37105151] [-0.7436964 0.0604893 -0.66577527 -2.52755073] [-0.66814231 -0.0338922 0.74326117 4.13611753] [ 0. 0. 0. 1. ]] SLAMing on 26.394206098999998 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:12.36, Y:-2.55, Z:4.16 [[ 0.04252327 0.997264 0.06046724 12.36338391] [-0.73638013 0.07218747 -0.67270594 -2.55327919] [-0.67523039 -0.01592122 0.73743504 4.15911785] [ 0. 0. 0. 1. ]] SLAMing on 26.424206098999996 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:12.35, Y:-2.58, Z:4.17 [[ 6.60031770e-02 9.96298379e-01 5.50737758e-02 1.23547243e+01] [-7.36352610e-01 8.58809200e-02 -6.71125399e-01 -2.58331111e+00] [-6.73370934e-01 3.74268993e-03 7.39295325e-01 4.17234743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.454206098999997 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:12.37, Y:-2.61, Z:4.19 [[ 0.03743491 0.99741242 0.0613767 12.37284329] [-0.73937642 0.06896405 -0.66975105 -2.60970684] [-0.6722508 -0.02030841 0.74004488 4.18931766] [ 0. 0. 0. 1. ]] SLAMing on 26.484206098999998 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:12.39, Y:-2.63, Z:4.21 [[ 0.01473032 0.99770317 0.06611664 12.38805859] [-0.74088981 0.05529549 -0.66934647 -2.63424297] [-0.67146505 -0.03912546 0.74000263 4.20997824] [ 0. 0. 0. 1. ]] SLAMing on 26.514206098999995 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:12.37, Y:-2.66, Z:4.22 [[ 5.22494528e-02 9.97061320e-01 5.60242641e-02 1.23712948e+01] [-7.39666178e-01 7.63310296e-02 -6.68631079e-01 -2.66338149e+00] [-6.70942576e-01 -6.50364532e-03 7.41480790e-01 4.22351628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.544206098999997 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:12.38, Y:-2.69, Z:4.24 [[ 0.04550088 0.9972547 0.05841859 12.37806161] [-0.74030853 0.07292605 -0.66830013 -2.69102472] [-0.67072569 -0.01283954 0.74159436 4.24060142] [ 0. 0. 0. 1. ]] SLAMing on 26.574206098999998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:12.38, Y:-2.72, Z:4.26 [[ 0.03858599 0.9974824 0.0594978 12.38437644] [-0.7417158 0.06848969 -0.66720824 -2.71844334] [-0.66960346 -0.01838557 0.7424912 4.25765766] [ 0. 0. 0. 1. ]] SLAMing on 26.604206098999995 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:12.39, Y:-2.75, Z:4.27 [[ 0.02723202 0.99777793 0.06080798 12.39290988] [-0.74267748 0.06091117 -0.66687329 -2.74527127] [-0.66909534 -0.02700041 0.74268594 4.27435461] [ 0. 0. 0. 1. ]] SLAMing on 26.634206098999996 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:12.40, Y:-2.77, Z:4.29 [[ 0.02137804 0.99789279 0.06126145 12.39877063] [-0.74363109 0.05682771 -0.66617071 -2.77247592] [-0.66824829 -0.03131449 0.74327896 4.29152284] [ 0. 0. 0. 1. ]] SLAMing on 26.664206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.40, Y:-2.80, Z:4.31 [[ 0.02561583 0.99780921 0.06099686 12.39927773] [-0.7447619 0.05975016 -0.66465 -2.80119543] [-0.66683846 -0.02840258 0.74466083 4.31311167] [ 0. 0. 0. 1. ]] SLAMing on 26.694206098999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.39, Y:-2.83, Z:4.33 [[ 0.04077498 0.99757973 0.05632126 12.39387175] [-0.7437181 0.06794495 -0.66503148 -2.82972696] [-0.66724867 -0.01477049 0.74468855 4.33158772] [ 0. 0. 0. 1. ]] SLAMing on 26.724206098999996 meters Centerline goodness : 0.999940 Centerline is valid? [True, True] Translation: X:12.40, Y:-2.86, Z:4.35 [[ 4.33253423e-02 9.97475744e-01 5.62588173e-02 1.23960405e+01] [-7.37121480e-01 6.99259388e-02 -6.72132641e-01 -2.85519708e+00] [-6.74369957e-01 -1.23492060e-02 7.38290362e-01 4.35361528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.754206098999997 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:12.39, Y:-2.88, Z:4.37 [[ 5.59731045e-02 9.97072890e-01 5.20832430e-02 1.23906255e+01] [-7.38284123e-01 7.64510616e-02 -6.70143111e-01 -2.88374632e+00] [-6.72163347e-01 -9.42240995e-04 7.40402287e-01 4.36906450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.784206098999995 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:12.41, Y:-2.91, Z:4.39 [[ 0.01588088 0.99809889 0.05955165 12.41219267] [-0.74476422 0.05154724 -0.66533386 -2.91020322] [-0.66713871 -0.03378585 0.74416695 4.38977947] [ 0. 0. 0. 1. ]] SLAMing on 26.814206098999996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:12.41, Y:-2.94, Z:4.41 [[ 0.03137709 0.99801769 0.05455419 12.40588198] [-0.74647511 0.05969526 -0.66273025 -2.93790884] [-0.66467314 -0.01992879 0.74686843 4.40882459] [ 0. 0. 0. 1. ]] SLAMing on 26.844206098999997 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:12.40, Y:-2.97, Z:4.42 [[ 4.13842164e-02 9.97894298e-01 4.99431427e-02 1.24048458e+01] [-7.46986331e-01 6.40979055e-02 -6.61742307e-01 -2.96632831e+00] [-6.63550125e-01 -9.92115804e-03 7.48066041e-01 4.42119553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.874206098999995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:12.43, Y:-2.99, Z:4.44 [[ 4.77067290e-03 9.98198848e-01 5.98021775e-02 1.24269250e+01] [-7.50400660e-01 4.31016568e-02 -6.59576452e-01 -2.99175645e+00] [-6.60966028e-01 -4.17289700e-02 7.49254698e-01 4.43625058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.904206098999996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:12.43, Y:-3.02, Z:4.45 [[ 3.21131562e-03 9.98298179e-01 5.82274256e-02 1.24302919e+01] [-7.53833207e-01 4.06758905e-02 -6.55805587e-01 -3.01869112e+00] [-6.57057976e-01 -4.17877683e-02 7.52680941e-01 4.44962129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.934206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.42, Y:-3.04, Z:4.46 [[ 0.01682282 0.99842385 0.05354263 12.42468877] [-0.75293674 0.04788462 -0.65634848 -3.04492971] [-0.65787784 -0.02927258 0.75255555 4.4646287 ] [ 0. 0. 0. 1. ]] SLAMing on 26.964206098999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.42, Y:-3.07, Z:4.48 [[ 0.0294954 0.99833565 0.04955753 12.42072382] [-0.75372601 0.05477794 -0.65490189 -3.07111796] [-0.65652656 -0.0180362 0.75408724 4.48158945] [ 0. 0. 0. 1. ]] SLAMing on 26.994206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.47, Y:-3.10, Z:4.50 [[-4.73801934e-02 9.96546991e-01 6.81851249e-02 1.24664051e+01] [-7.57170662e-01 8.69086494e-03 -6.53159289e-01 -3.09553933e+00] [-6.51496512e-01 -8.25745896e-02 7.54144371e-01 4.49680064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.024206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.46, Y:-3.12, Z:4.51 [[-0.02620704 0.99780794 0.06076598 12.45813189] [-0.75806229 0.01978905 -0.65188185 -3.12332064] [-0.65165539 -0.06314829 0.75588196 4.51284786] [ 0. 0. 0. 1. ]] SLAMing on 27.054206098999998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:12.47, Y:-3.15, Z:4.53 [[-4.30308425e-02 9.96967464e-01 6.48399798e-02 1.24706709e+01] [-7.55641519e-01 9.97868169e-03 -6.54909399e-01 -3.14746116e+00] [-6.53570380e-01 -7.71770840e-02 7.52920618e-01 4.53192835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.084206098999996 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:12.43, Y:-3.18, Z:4.54 [[ 0.02898497 0.99856876 0.04494772 12.43360476] [-0.75965059 0.05123185 -0.64831032 -3.17693554] [-0.64968519 -0.01535331 0.76004831 4.54338092] [ 0. 0. 0. 1. ]] SLAMing on 27.114206098999997 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:12.47, Y:-3.20, Z:4.56 [[-3.80751289e-02 9.97630210e-01 5.73083629e-02 1.24739041e+01] [-7.66325324e-01 7.65550607e-03 -6.42407107e-01 -3.20442335e+00] [-6.41323461e-01 -6.83765832e-02 7.64217810e-01 4.56014876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.144206098999998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:12.44, Y:-3.23, Z:4.58 [[ 2.88710704e-02 9.98745376e-01 4.09162036e-02 1.24402829e+01] [-7.60612538e-01 4.85093507e-02 -6.47391234e-01 -3.23028920e+00] [-6.48563819e-01 -1.24304996e-02 7.61058772e-01 4.57659983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.174206098999996 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:12.49, Y:-3.26, Z:4.59 [[-5.10321261e-02 9.96868824e-01 6.04009097e-02 1.24852468e+01] [-7.62066772e-01 2.20294999e-04 -6.47498406e-01 -3.25574266e+00] [-6.45484281e-01 -7.90727466e-02 7.59669365e-01 4.59357593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.204206098999997 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:12.48, Y:-3.28, Z:4.61 [[-3.95161160e-02 9.97628134e-01 5.63611752e-02 1.24812578e+01] [-7.63365604e-01 6.25532728e-03 -6.45936394e-01 -3.28324584e+00] [-6.44756877e-01 -6.85490801e-02 7.61307818e-01 4.61036470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.234206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.47, Y:-3.31, Z:4.63 [[-5.17282239e-03 9.98920264e-01 4.61686969e-02 1.24671662e+01] [-7.66005157e-01 2.57204249e-02 -6.42319671e-01 -3.31085849e+00] [-6.42813614e-01 -3.86880655e-02 7.65045026e-01 4.62699349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.264206098999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.48, Y:-3.34, Z:4.64 [[-0.02277969 0.99855098 0.04875481 12.4794549 ] [-0.77008735 0.01357284 -0.63779405 -3.33564011] [-0.63753161 -0.05207421 0.76866229 4.63922183] [ 0. 0. 0. 1. ]] SLAMing on 27.294206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.49, Y:-3.36, Z:4.66 [[-4.30510685e-02 9.97707679e-01 5.22110399e-02 1.24922252e+01] [-7.69203588e-01 2.48583240e-04 -6.39003739e-01 -3.36187072e+00] [-6.37551916e-01 -6.76707129e-02 7.67429624e-01 4.65880636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.324206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.48, Y:-3.39, Z:4.68 [[-0.01613764 0.99888991 0.04425511 12.48034792] [-0.77270585 0.01563075 -0.63457178 -3.38942867] [-0.63455909 -0.04443668 0.77159584 4.67614428] [ 0. 0. 0. 1. ]] SLAMing on 27.354206098999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.49, Y:-3.42, Z:4.69 [[-2.98780191e-02 9.98437776e-01 4.72155852e-02 1.24897520e+01] [-7.74138628e-01 6.76736105e-03 -6.32979926e-01 -3.41584015e+00] [-6.32310595e-01 -5.54635947e-02 7.72727055e-01 4.69274167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.384206098999996 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:12.49, Y:-3.44, Z:4.71 [[-2.84337873e-02 9.98538122e-01 4.59688915e-02 1.24924890e+01] [-7.72637144e-01 7.22292371e-03 -6.34806799e-01 -3.43937482e+00] [-6.34210819e-01 -5.35672345e-02 7.71302268e-01 4.71263931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.414206098999998 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:12.50, Y:-3.47, Z:4.73 [[-3.03269901e-02 9.98550810e-01 4.44584576e-02 1.24954147e+01] [-7.72511132e-01 4.80939742e-03 -6.34983008e-01 -3.46564407e+00] [-6.34276615e-01 -5.36017768e-02 7.71245762e-01 4.73368053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.444206098999995 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:12.48, Y:-3.50, Z:4.75 [[ 5.28434011e-03 9.99426218e-01 3.34560850e-02 1.24782727e+01] [-7.76260651e-01 2.51907545e-02 -6.29908587e-01 -3.49705103e+00] [-6.30389941e-01 -2.26419911e-02 7.75948363e-01 4.74848416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.474206098999996 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:12.49, Y:-3.52, Z:4.77 [[-1.77531581e-02 9.99021914e-01 4.04974046e-02 1.24922076e+01] [-7.79014465e-01 1.15691396e-02 -6.26899209e-01 -3.52330869e+00] [-6.26754568e-01 -4.26775047e-02 7.78047133e-01 4.76612256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.504206098999997 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:12.47, Y:-3.55, Z:4.78 [[ 2.03518436e-02 9.99351249e-01 2.97133553e-02 1.24722242e+01] [-7.75940447e-01 3.45294858e-02 -6.29860412e-01 -3.54904581e+00] [-6.30477776e-01 -1.02369736e-02 7.76139793e-01 4.78187797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.534206098999995 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:12.51, Y:-3.58, Z:4.80 [[-3.81186694e-02 9.98197884e-01 4.63459955e-02 1.25059992e+01] [-7.80815121e-01 -8.09893405e-04 -6.24761627e-01 -3.57533741e+00] [-6.23598199e-01 -6.00027360e-02 7.79438874e-01 4.79952900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.564206098999996 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:12.49, Y:-3.60, Z:4.82 [[-5.73840275e-03 9.99334912e-01 3.60111714e-02 1.24915051e+01] [-7.79705964e-01 1.80766023e-02 -6.25884851e-01 -3.60223397e+00] [-6.26119542e-01 -3.16697044e-02 7.79083660e-01 4.81972156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.594206098999997 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:12.49, Y:-3.63, Z:4.84 [[-6.33866834e-03 9.99337457e-01 3.58394669e-02 1.24935379e+01] [-7.79711186e-01 1.75009971e-02 -6.25894705e-01 -3.62953146e+00] [-6.26107250e-01 -3.19117722e-02 7.79083661e-01 4.83906835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.624206098999995 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:12.50, Y:-3.65, Z:4.86 [[-7.02881370e-03 9.99340956e-01 3.56124894e-02 1.24952506e+01] [-7.73614508e-01 1.71315357e-02 -6.33424900e-01 -3.65403394e+00] [-6.33617542e-01 -3.20025641e-02 7.72984247e-01 4.86098382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.654206098999996 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:12.50, Y:-3.68, Z:4.88 [[-5.63211664e-03 9.99369368e-01 3.50591801e-02 1.24962244e+01] [-7.79050520e-01 1.75954789e-02 -6.26714199e-01 -3.68321847e+00] [-6.26935856e-01 -3.08426000e-02 7.78460126e-01 4.87619085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.684206098999997 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:12.50, Y:-3.71, Z:4.90 [[-5.94590930e-03 9.99376558e-01 3.48014623e-02 1.24980570e+01] [-7.79048000e-01 1.71896395e-02 -6.26728594e-01 -3.71052220e+00] [-6.26936089e-01 -3.08384809e-02 7.78460101e-01 4.89554618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.714206098999995 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:12.50, Y:-3.73, Z:4.92 [[-7.99945207e-03 9.99366919e-01 3.46665508e-02 1.25011512e+01] [-7.72165634e-01 1.58541423e-02 -6.35223489e-01 -3.73384797e+00] [-6.35370949e-01 -3.18497590e-02 7.71549966e-01 4.91766250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.744206098999996 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:12.50, Y:-3.76, Z:4.94 [[-5.70425743e-03 9.99397394e-01 3.42390179e-02 1.25017179e+01] [-7.72283211e-01 1.73483485e-02 -6.35041477e-01 -3.76026934e+00] [-6.35252787e-01 -3.00646588e-02 7.71718869e-01 4.93725903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.774206098999997 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:12.50, Y:-3.79, Z:4.96 [[-7.87523492e-03 9.99397541e-01 3.38014116e-02 1.25042056e+01] [-7.72180045e-01 1.53994148e-02 -6.35217156e-01 -3.78770256e+00] [-6.35354986e-01 -3.11032599e-02 7.71593565e-01 4.95617696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.804206098999995 meters Centerline goodness : 0.999940 Centerline is valid? [True, True] Translation: X:12.51, Y:-3.81, Z:4.98 [[-4.89795958e-03 9.99432002e-01 3.33419299e-02 1.25050853e+01] [-7.72376300e-01 1.73965027e-02 -6.34926935e-01 -3.81403821e+00] [-6.35146330e-01 -2.88623629e-02 7.71852384e-01 4.97598219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.834206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.51, Y:-3.84, Z:5.00 [[-3.89820123e-03 9.99450702e-01 3.29104529e-02 1.25055900e+01] [-7.71786862e-01 1.79200931e-02 -6.35628752e-01 -3.84098474e+00] [-6.35869361e-01 -2.78776640e-02 7.71293065e-01 4.99505739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.864206098999997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:12.51, Y:-3.87, Z:5.01 [[-3.80450312e-03 9.99462827e-01 3.25512308e-02 1.25068586e+01] [-7.71217505e-01 1.77885572e-02 -6.36323131e-01 -3.86721637e+00] [-6.36560355e-01 -2.75249724e-02 7.70735552e-01 5.01297445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.894206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.51, Y:-3.89, Z:5.03 [[ 1.61902617e-03 9.99483079e-01 3.21084576e-02 1.25059713e+01] [-7.70960653e-01 2.16968747e-02 -6.36513093e-01 -3.89344152e+00] [-6.36880719e-01 -2.37238261e-02 7.70597255e-01 5.03247017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.924206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.51, Y:-3.92, Z:5.05 [[ 1.99496588e-03 9.99496608e-01 3.16630678e-02 1.25070569e+01] [-7.74853607e-01 2.15605289e-02 -6.31772927e-01 -3.92250987e+00] [-6.32137570e-01 -2.32738768e-02 7.74506565e-01 5.04795615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.954206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.50, Y:-3.95, Z:5.06 [[ 1.57420203e-02 9.99561132e-01 2.50944818e-02 1.25015159e+01] [-7.80713295e-01 2.79678404e-02 -6.24263207e-01 -3.95297039e+00] [-6.24691076e-01 -9.76443146e-03 7.80810935e-01 5.06412214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.984206098999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.51, Y:-3.98, Z:5.09 [[ 3.49097935e-03 9.99526546e-01 3.05695433e-02 1.25096027e+01] [-7.74898811e-01 2.20264078e-02 -6.31701409e-01 -3.97564315e+00] [-6.32075665e-01 -2.14830462e-02 7.74608826e-01 5.08506383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.014206098999995 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:12.51, Y:-4.00, Z:5.10 [[-1.90802819e-03 9.99533813e-01 3.04715486e-02 1.25136284e+01] [-7.73804913e-01 1.78256340e-02 -6.33173122e-01 -4.00178253e+00] [-6.33421120e-01 -2.47871462e-02 7.73410164e-01 5.10460376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.044206098999997 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:12.52, Y:-4.03, Z:5.13 [[-1.16977945e-03 9.99544833e-01 3.01456360e-02 1.25152284e+01] [-7.69920070e-01 1.83369122e-02 -6.37876824e-01 -4.02637190e+00] [-6.38139261e-01 -2.39559054e-02 7.69548178e-01 5.12678836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.074206098999998 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:12.52, Y:-4.05, Z:5.15 [[ 2.56085791e-04 9.99557516e-01 2.97440255e-02 1.25170121e+01] [-7.69735727e-01 1.91845067e-02 -6.38074342e-01 -4.05382944e+00] [-6.38362628e-01 -2.27316373e-02 7.69400044e-01 5.14557557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.104206098999995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:12.52, Y:-4.08, Z:5.16 [[ 4.13495038e-03 9.99567875e-01 2.91026786e-02 1.25166065e+01] [-7.73906798e-01 2.16293724e-02 -6.32930043e-01 -4.08306053e+00] [-6.33286010e-01 -1.99056265e-02 7.73661809e-01 5.16165856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.134206098999996 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:12.52, Y:-4.11, Z:5.18 [[ 4.18344643e-03 9.99584155e-01 2.85309570e-02 1.25181463e+01] [-7.72697390e-01 2.13418998e-02 -6.34415689e-01 -4.10991375e+00] [-6.34760775e-01 -1.93917520e-02 7.72465351e-01 5.18148993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.164206098999998 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:12.52, Y:-4.14, Z:5.20 [[ 4.19192533e-03 9.99600793e-01 2.79407114e-02 1.25197228e+01] [-7.73152413e-01 2.09602500e-02 -6.33873815e-01 -4.13715385e+00] [-6.34206412e-01 -1.89452768e-02 7.72931629e-01 5.19961808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.194206098999995 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:12.52, Y:-4.16, Z:5.22 [[ 5.51331511e-03 9.99608514e-01 2.74303005e-02 1.25209818e+01] [-7.72228842e-01 2.16835673e-02 -6.34974361e-01 -4.16399006e+00] [-6.35320564e-01 -1.76816555e-02 7.72046074e-01 5.21959484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.224206098999996 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:12.52, Y:-4.19, Z:5.24 [[ 8.48703500e-03 9.99621978e-01 2.61509166e-02 1.25214499e+01] [-7.69308219e-01 2.32341174e-02 -6.38455198e-01 -4.18790561e+00] [-6.38821441e-01 -1.46995235e-02 7.69214593e-01 5.23831679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.254206098999997 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:12.53, Y:-4.21, Z:5.25 [[-1.39070881e-03 9.99616163e-01 2.76693594e-02 1.25279502e+01] [-7.70507096e-01 1.65661694e-02 -6.37216115e-01 -4.21397479e+00] [-6.37429903e-01 -2.22056198e-02 7.70188308e-01 5.25444884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.284206098999995 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:12.53, Y:-4.24, Z:5.28 [[-1.37061816e-02 9.99438872e-01 3.05627622e-02 1.25348999e+01] [-7.71520823e-01 8.87263685e-03 -6.36142198e-01 -4.23969096e+00] [-6.36056413e-01 -3.22988879e-02 7.70966291e-01 5.27536858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.314206098999996 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:12.53, Y:-4.27, Z:5.29 [[ 5.59390630e-04 9.99669042e-01 2.57195310e-02 1.25285289e+01] [-7.71255395e-01 1.68024347e-02 -6.36304010e-01 -4.26665717e+00] [-6.36525571e-01 -1.94803846e-02 7.71009541e-01 5.29364590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.344206098999997 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:12.53, Y:-4.29, Z:5.31 [[-1.40778938e-03 9.99678605e-01 2.53121318e-02 1.25306943e+01] [-7.70723242e-01 1.50434557e-02 -6.36992448e-01 -4.29367467e+00] [-6.37168504e-01 -2.04053995e-02 7.70454357e-01 5.31298033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.374206098999995 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:12.53, Y:-4.32, Z:5.33 [[ 5.70310071e-03 9.99674595e-01 2.48631848e-02 1.25296883e+01] [-7.70771015e-01 2.02350179e-02 -6.36790850e-01 -4.31967705e+00] [-6.37086742e-01 -1.55321398e-02 7.70635605e-01 5.33377808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.404206098999996 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:12.53, Y:-4.35, Z:5.35 [[ 4.22055134e-03 9.99691879e-01 2.44608764e-02 1.25322860e+01] [-7.70880152e-01 1.88336245e-02 -6.36701725e-01 -4.34550707e+00] [-6.36966230e-01 -1.61691718e-02 7.70722116e-01 5.35233536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.434206098999997 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:12.53, Y:-4.37, Z:5.37 [[ 1.61270128e-03 9.99709541e-01 2.40464545e-02 1.25344706e+01] [-7.70693453e-01 1.65650786e-02 -6.36990737e-01 -4.37349969e+00] [-6.37204049e-01 -1.75051693e-02 7.70496313e-01 5.37010428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.464206098999995 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:12.53, Y:-4.40, Z:5.39 [[ 3.72273140e-03 9.99715948e-01 2.35406902e-02 1.25343633e+01] [-7.71257170e-01 1.78545653e-02 -6.36273206e-01 -4.39883551e+00] [-6.36512780e-01 -1.57872519e-02 7.71104560e-01 5.39118717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.494206098999996 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:12.54, Y:-4.43, Z:5.41 [[-4.30547649e-04 9.99732805e-01 2.31113268e-02 1.25382171e+01] [-7.72026920e-01 1.43570180e-02 -6.35427660e-01 -4.42509869e+00] [-6.35589686e-01 -1.81161483e-02 7.71814457e-01 5.40913248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.524206098999997 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:12.54, Y:-4.45, Z:5.43 [[ 3.81514039e-04 9.99745878e-01 2.25396161e-02 1.25394817e+01] [-7.74987547e-01 1.45401008e-02 -6.31809218e-01 -4.45222706e+00] [-6.31976389e-01 -1.72268777e-02 7.74796153e-01 5.42831145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.554206098999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.54, Y:-4.48, Z:5.45 [[ 4.09797796e-03 9.99746475e-01 2.21403092e-02 1.25399123e+01] [-7.73671418e-01 1.71974930e-02 -6.33353600e-01 -4.47868026e+00] [-6.33573786e-01 -1.45338554e-02 7.73545748e-01 5.44825389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.584206098999996 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:12.54, Y:-4.51, Z:5.47 [[-4.53576263e-03 9.99755243e-01 2.16536586e-02 1.25442536e+01] [-7.74882159e-01 1.01734371e-02 -6.32023845e-01 -4.50542811e+00] [-6.32089445e-01 -1.96457439e-02 7.74646357e-01 5.46633418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.614206098999997 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:12.54, Y:-4.53, Z:5.49 [[-3.09547024e-03 9.99770656e-01 2.11908598e-02 1.25442345e+01] [-7.74956295e-01 1.09945783e-02 -6.31919187e-01 -4.53078244e+00] [-6.32007245e-01 -1.83780772e-02 7.74744531e-01 5.48699862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.644206098999994 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:12.55, Y:-4.56, Z:5.51 [[-3.66283190e-03 9.99778978e-01 2.07021335e-02 1.25459760e+01] [-7.74953253e-01 1.02461541e-02 -6.31935497e-01 -4.55804883e+00] [-6.32007942e-01 -1.83578592e-02 7.74744442e-01 5.50645618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.674206098999996 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:12.55, Y:-4.58, Z:5.52 [[-4.87702884e-03 9.99782829e-01 2.02610329e-02 1.25480011e+01] [-7.75941400e-01 8.99712603e-03 -6.30740831e-01 -4.58442974e+00] [-6.30786143e-01 -1.87975154e-02 7.75729009e-01 5.52478364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.704206098999997 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:12.55, Y:-4.61, Z:5.54 [[-6.01447233e-03 9.99785771e-01 1.98050222e-02 1.25506114e+01] [-7.75903727e-01 7.82808827e-03 -6.30802765e-01 -4.61082883e+00] [-6.30822664e-01 -1.91607363e-02 7.75690424e-01 5.54426567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.734206098999998 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:12.55, Y:-4.64, Z:5.56 [[-7.37689910e-03 9.99785897e-01 1.93323828e-02 1.25531120e+01] [-7.75622424e-01 6.48160112e-03 -6.31163880e-01 -4.63736278e+00] [-6.31154051e-01 -1.96506619e-02 7.75408547e-01 5.56341255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.764206098999995 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:12.54, Y:-4.67, Z:5.58 [[ 1.26896786e-02 9.99818223e-01 1.42300000e-02 1.25443714e+01] [-7.76206615e-01 1.88209461e-02 -6.30197638e-01 -4.66582657e+00] [-6.30350905e-01 -3.04841466e-03 7.76304350e-01 5.57780889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.794206098999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.57, Y:-4.69, Z:5.60 [[-2.88541434e-02 9.99281718e-01 2.45659614e-02 1.25671687e+01] [-7.79437507e-01 -7.10601265e-03 -6.26439684e-01 -4.69488573e+00] [-6.25815157e-01 -3.72230122e-02 7.79082689e-01 5.59820348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.824206098999998 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:12.56, Y:-4.72, Z:5.62 [[-1.04362990e-02 9.99778722e-01 1.82644909e-02 1.25578523e+01] [-7.79539539e-01 3.30508338e-03 -6.26344301e-01 -4.72193678e+00] [-6.26266070e-01 -2.07746092e-02 7.79332551e-01 5.61736414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.854206098999995 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:12.56, Y:-4.75, Z:5.64 [[-1.26718034e-02 9.99763292e-01 1.76857426e-02 1.25597814e+01] [-7.79765390e-01 1.19177353e-03 -6.26070696e-01 -4.74895205e+00] [-6.25943578e-01 -2.17241748e-02 7.79565711e-01 5.63674310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.884206098999996 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:12.56, Y:-4.77, Z:5.66 [[-1.43975436e-02 9.99749507e-01 1.71357581e-02 1.25622148e+01] [-7.79125713e-01 -4.75765282e-04 -6.26867527e-01 -4.77490999e+00] [-6.26702349e-01 -2.23762623e-02 7.78937397e-01 5.65636350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.914206098999998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:12.56, Y:-4.80, Z:5.68 [[-1.42920640e-02 9.99755385e-01 1.68791949e-02 1.25632505e+01] [-7.79043352e-01 -5.51526647e-04 -6.26969817e-01 -4.80197376e+00] [-6.26807141e-01 -2.21103173e-02 7.78860669e-01 5.67583730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.944206098999995 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:12.57, Y:-4.83, Z:5.69 [[-1.59471025e-02 9.99737058e-01 1.64774157e-02 1.25651823e+01] [-7.80854291e-01 -2.15933370e-03 -6.24709463e-01 -4.82860119e+00] [-6.24509620e-01 -2.28287666e-02 7.80683407e-01 5.69480008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.974206098999996 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:12.57, Y:-4.85, Z:5.71 [[-1.77118328e-02 9.99717300e-01 1.58622264e-02 1.25665363e+01] [-7.82169452e-01 -3.97176794e-03 -6.23053106e-01 -4.85454835e+00] [-6.22813969e-01 -2.34423614e-02 7.82018680e-01 5.71307550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.004206098999997 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:12.57, Y:-4.88, Z:5.73 [[-1.43554006e-02 9.99779799e-01 1.53060565e-02 1.25666731e+01] [-7.82005591e-01 -1.68658241e-03 -6.23269132e-01 -4.88207835e+00] [-6.23106072e-01 -2.09166998e-02 7.81857605e-01 5.73222596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.034206098999995 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:12.57, Y:-4.91, Z:5.75 [[-1.42717264e-02 9.99789599e-01 1.47334875e-02 1.25682684e+01] [-7.82054356e-01 -1.97966862e-03 -6.23207081e-01 -4.90907209e+00] [-6.23046790e-01 -2.04166290e-02 7.81918064e-01 5.75141441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.064206098999996 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:12.57, Y:-4.93, Z:5.77 [[-1.92676759e-02 9.99708245e-01 1.45664377e-02 1.25707856e+01] [-7.78009568e-01 -5.84113607e-03 -6.28225273e-01 -4.93331770e+00] [-6.27956901e-01 -2.34372689e-02 7.77895125e-01 5.77335069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.094206098999997 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:12.57, Y:-4.96, Z:5.79 [[-1.79108919e-02 9.99741302e-01 1.40188558e-02 1.25707523e+01] [-7.82696359e-01 -5.29508721e-03 -6.22381211e-01 -4.96169316e+00] [-6.22145971e-01 -2.21199100e-02 7.82588717e-01 5.78985793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.124206098999995 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:12.58, Y:-4.99, Z:5.81 [[-2.74850996e-02 9.99510740e-01 1.49281425e-02 1.25766972e+01] [-7.81554345e-01 -1.21761002e-02 -6.23718325e-01 -4.98720574e+00] [-6.23231398e-01 -2.88101149e-02 7.81506623e-01 5.80685563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.154206098999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.58, Y:-5.01, Z:5.83 [[-0.03241291 0.99934837 0.01588202 12.5796237 ] [-0.78375948 -0.0155534 -0.62086969 -5.01407921] [-0.62021809 -0.03257188 0.78375289 5.82524975] [ 0. 0. 0. 1. ]] SLAMing on 29.184206098999997 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:12.57, Y:-5.04, Z:5.84 [[-1.88515480e-02 9.99763949e-01 1.08011649e-02 1.25747794e+01] [-7.83344837e-01 -8.05586056e-03 -6.21535172e-01 -5.03703008e+00] [-6.21301445e-01 -2.01779369e-02 7.83311793e-01 5.84272214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.214206098999995 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:12.59, Y:-5.06, Z:5.86 [[-0.04471207 0.99885438 0.01705148 12.58953945] [-0.78378314 -0.0244913 -0.6205515 -5.06303137] [-0.61942297 -0.0411108 0.78398028 5.86413266] [ 0. 0. 0. 1. ]] SLAMing on 29.244206098999996 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:12.58, Y:-5.09, Z:5.88 [[-2.55474888e-02 9.99611990e-01 1.10993072e-02 1.25799189e+01] [-7.83994008e-01 -1.31456247e-02 -6.20629188e-01 -5.09012661e+00] [-6.20242470e-01 -2.45573076e-02 7.84025648e-01 5.88412625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.274206098999997 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:12.58, Y:-5.12, Z:5.90 [[-2.69339256e-02 9.99580905e-01 1.06103204e-02 1.25815048e+01] [-7.83734884e-01 -1.45269257e-02 -6.20925600e-01 -5.11673848e+00] [-6.20511238e-01 -2.50396421e-02 7.83797691e-01 5.90385838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.304206098999995 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:12.58, Y:-5.15, Z:5.92 [[-2.95817968e-02 9.99510131e-01 1.02184138e-02 1.25827178e+01] [-7.81071460e-01 -1.67351840e-02 -6.24217356e-01 -5.14744468e+00] [-6.23740564e-01 -2.64467824e-02 7.81183894e-01 5.91834025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.334206098999996 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:12.58, Y:-5.17, Z:5.94 [[-2.97679527e-02 9.99508945e-01 9.78453419e-03 1.25833739e+01] [-7.80636367e-01 -1.71334664e-02 -6.24750595e-01 -5.17384374e+00] [-6.24276166e-01 -2.62357094e-02 7.80763060e-01 5.93785247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.364206098999997 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:12.59, Y:-5.20, Z:5.96 [[-3.18896363e-02 9.99447775e-01 9.33786026e-03 1.25857490e+01] [-7.80644545e-01 -1.90717887e-02 -6.24684209e-01 -5.20140860e+00] [-6.24161153e-01 -2.72105019e-02 7.80821647e-01 5.95660515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.394206098999994 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:12.58, Y:-5.23, Z:5.97 [[-1.65351501e-02 9.99848298e-01 5.47447786e-03 1.25797096e+01] [-7.82241321e-01 -9.52585569e-03 -6.22902700e-01 -5.22875218e+00] [-6.22756055e-01 -1.45821524e-02 7.82280165e-01 5.97052343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.424206098999996 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:12.59, Y:-5.26, Z:5.99 [[-4.36846440e-02 9.98970060e-01 1.22666885e-02 1.25949210e+01] [-7.83643513e-01 -2.66474480e-02 -6.20638992e-01 -5.25621414e+00] [-6.19672895e-01 -3.67251043e-02 7.84000491e-01 5.98625760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.454206098999997 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:12.57, Y:-5.29, Z:6.00 [[-7.22039347e-04 9.99999680e-01 -3.45493371e-04 1.25723577e+01] [-7.89072871e-01 -7.81978180e-04 -6.14299107e-01 -5.28715356e+00] [-6.14299180e-01 -1.70928680e-04 7.89073183e-01 6.00139705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.484206098999994 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:12.61, Y:-5.31, Z:6.02 [[-0.07063967 0.99727113 0.02145555 12.61065849] [-0.78483401 -0.04229068 -0.61826134 -5.31057463] [-0.61566681 -0.06051282 0.78567969 6.02179885] [ 0. 0. 0. 1. ]] SLAMing on 29.514206098999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.60, Y:-5.34, Z:6.04 [[-0.05197108 0.99851647 0.01624395 12.60156119] [-0.78423636 -0.03073683 -0.61970039 -5.33632437] [-0.61828176 -0.04494559 0.78467035 6.04278571] [ 0. 0. 0. 1. ]] SLAMing on 29.544206098999997 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:12.58, Y:-5.36, Z:6.06 [[-1.73910688e-02 9.99833688e-01 5.49071496e-03 1.25839451e+01] [-7.86303095e-01 -1.02844431e-02 -6.17755350e-01 -5.36414849e+00] [-6.17596141e-01 -1.50607920e-02 7.86351181e-01 6.06188398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.574206098999998 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:12.59, Y:-5.39, Z:6.08 [[-2.72506384e-02 9.99603660e-01 7.06573824e-03 1.25900836e+01] [-7.86358612e-01 -1.70722045e-02 -6.17534350e-01 -5.39159812e+00] [-6.17168969e-01 -2.23844094e-02 7.86512175e-01 6.08098455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.604206098999995 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:12.60, Y:-5.42, Z:6.10 [[-4.42089744e-02 9.98966603e-01 1.05495244e-02 1.26013928e+01] [-7.84722282e-01 -2.81885661e-02 -6.19206222e-01 -5.41641655e+00] [-6.18268960e-01 -3.56529189e-02 7.85157540e-01 6.09989843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.634206098999996 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:12.60, Y:-5.44, Z:6.12 [[-3.57051687e-02 9.99331117e-01 7.90313052e-03 1.25982331e+01] [-7.84046043e-01 -2.31078591e-02 -6.20272384e-01 -5.44235364e+00] [-6.19674870e-01 -2.83433483e-02 7.84346677e-01 6.11964464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.664206098999998 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:12.60, Y:-5.47, Z:6.14 [[-3.74747882e-02 9.99280050e-01 5.91796184e-03 1.25999826e+01] [-7.86134436e-01 -2.58243789e-02 -6.17515789e-01 -5.47075478e+00] [-6.16918381e-01 -2.77935870e-02 7.86536222e-01 6.13816006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.694206098999995 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:12.61, Y:-5.49, Z:6.16 [[-4.81120895e-02 9.98805422e-01 8.54147526e-03 1.26062720e+01] [-7.80719123e-01 -3.22702846e-02 -6.24048299e-01 -5.49443385e+00] [-6.23027189e-01 -3.66927607e-02 7.81339084e-01 6.16022083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.724206098999996 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:12.59, Y:-5.52, Z:6.17 [[-1.23539832e-02 9.99923147e-01 -1.03932042e-03 1.25870880e+01] [-7.84925538e-01 -1.03416147e-02 -6.19503794e-01 -5.52383784e+00] [-6.19466932e-01 -6.83755034e-03 7.84992974e-01 6.17480651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.754206098999997 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:12.61, Y:-5.55, Z:6.19 [[-4.87661431e-02 9.98777115e-01 8.13255890e-03 1.26076891e+01] [-7.88055889e-01 -3.34723518e-02 -6.14693027e-01 -5.55310365e+00] [-6.13669112e-01 -3.63851190e-02 7.88724504e-01 6.19249869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.784206098999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:12.60, Y:-5.58, Z:6.22 [[-2.93195480e-02 9.99566253e-01 2.76963002e-03 1.25981000e+01] [-7.83658232e-01 -2.12662653e-02 -6.20828093e-01 -5.57711295e+00] [-6.20499911e-01 -2.03728425e-02 7.83941840e-01 6.21626563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.814206098999996 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:12.60, Y:-5.60, Z:6.24 [[-3.13818522e-02 9.99504688e-01 2.35747225e-03 1.25996724e+01] [-7.83241525e-01 -2.31263570e-02 -6.21287281e-01 -5.60413321e+00] [-6.20925030e-01 -2.13436157e-02 7.83579324e-01 6.23553592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.844206098999997 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:12.60, Y:-5.63, Z:6.25 [[-3.01680990e-02 9.99542997e-01 1.91913030e-03 1.25998848e+01] [-7.82741613e-01 -2.24304887e-02 -6.21942473e-01 -5.63114087e+00] [-6.21615197e-01 -2.02650053e-02 7.83060583e-01 6.25431523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.874206098999995 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:12.60, Y:-5.66, Z:6.27 [[-3.27134890e-02 9.99462040e-01 2.33647698e-03 1.26013898e+01] [-7.81690572e-01 -2.41287148e-02 -6.23199530e-01 -5.65539013e+00] [-6.22807898e-01 -2.22134330e-02 7.82059388e-01 6.27221253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.904206098999996 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:12.61, Y:-5.68, Z:6.29 [[-4.44657708e-02 9.99002145e-01 4.18437390e-03 1.26080722e+01] [-7.82468751e-01 -3.22231541e-02 -6.21855548e-01 -5.68355260e+00] [-6.21100192e-01 -3.09254281e-02 7.83120788e-01 6.29195279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.934206098999997 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:12.60, Y:-5.71, Z:6.31 [[-3.26947469e-02 9.99465066e-01 7.97669340e-04 1.26028177e+01] [-7.82321927e-01 -2.50947972e-02 -6.22368584e-01 -5.70948558e+00] [-6.22015640e-01 -2.09722176e-02 7.82723904e-01 6.31031553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.964206098999995 meters Centerline goodness : 0.998403 Centerline is valid? [True, True] Translation: X:12.60, Y:-5.74, Z:6.33 [[-3.55046609e-02 9.99368967e-01 1.04279617e-03 1.26046989e+01] [-7.82903711e-01 -2.71657238e-02 -6.21549517e-01 -5.73723257e+00] [-6.21128970e-01 -2.28843138e-02 7.83374183e-01 6.32837878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.994206098999996 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:12.61, Y:-5.76, Z:6.35 [[-4.77692734e-02 9.98853214e-01 3.21767620e-03 1.26115636e+01] [-7.82198457e-01 -3.54041856e-02 -6.22022602e-01 -5.76347638e+00] [-6.21195356e-01 -3.22304291e-02 7.82992675e-01 6.34938574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.024206098999997 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:12.61, Y:-5.76, Z:6.35 [[-3.50729958e-02 9.99376113e-01 4.15561775e-03 1.26050819e+01] [-7.82720717e-01 -2.48836083e-02 -6.21875458e-01 -5.75615933e+00] [-6.21384072e-01 -2.50637234e-02 7.83105130e-01 6.34525597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.054206098999995 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:12.60, Y:-5.78, Z:6.36 [[-1.50852024e-02 9.99885750e-01 -9.61462969e-04 1.25957955e+01] [-7.83734090e-01 -1.24212483e-02 -6.20972293e-01 -5.78323729e+00] [-6.20913289e-01 -8.61396140e-03 7.83831925e-01 6.36193795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.084206098999996 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:12.61, Y:-5.81, Z:6.38 [[-3.99103154e-02 9.99183916e-01 6.21842851e-03 1.26101690e+01] [-7.83084560e-01 -2.74119452e-02 -6.21310838e-01 -5.80888503e+00] [-6.20633337e-01 -2.96662669e-02 7.83539516e-01 6.38094269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.114206098999997 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:12.61, Y:-5.84, Z:6.40 [[-3.52827680e-02 9.99370766e-01 3.63300637e-03 1.26081407e+01] [-7.83067781e-01 -2.53871577e-02 -6.21418009e-01 -5.83506735e+00] [-6.20934760e-01 -2.47702377e-02 7.83470778e-01 6.40001453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.144206098999994 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:12.60, Y:-5.86, Z:6.42 [[-2.16616399e-02 9.99765359e-01 1.72681395e-05 1.25998571e+01] [-7.84753173e-01 -1.69923288e-02 -6.19575434e-01 -5.86272921e+00] [-6.19429762e-01 -1.34345711e-02 7.84937120e-01 6.41703776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.174206098999996 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:12.62, Y:-5.89, Z:6.44 [[-5.34980426e-02 9.98540334e-01 7.42703837e-03 1.26176572e+01] [-7.81405812e-01 -3.72316394e-02 -6.22911520e-01 -5.88926737e+00] [-6.21725756e-01 -3.91280780e-02 7.82257041e-01 6.44003624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.204206098999997 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:12.60, Y:-5.91, Z:6.46 [[-2.21081589e-02 9.99752637e-01 -2.42773798e-03 1.26006068e+01] [-7.79411199e-01 -1.87563132e-02 -6.26231893e-01 -5.91499054e+00] [-6.26122522e-01 -1.19526280e-02 7.79633069e-01 6.45931873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.234206098999994 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:12.61, Y:-5.94, Z:6.48 [[-4.66592857e-02 9.98898691e-01 4.93107433e-03 1.26139092e+01] [-7.81829589e-01 -3.34463855e-02 -6.22594437e-01 -5.94167045e+00] [-6.21743841e-01 -3.29050715e-02 7.82529138e-01 6.47762061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.264206098999995 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:12.60, Y:-5.97, Z:6.50 [[-1.87799511e-02 9.99816875e-01 -3.67843235e-03 1.25988654e+01] [-7.80392844e-01 -1.69580841e-02 -6.25059543e-01 -5.96752737e+00] [-6.25007458e-01 -8.86796533e-03 7.80568406e-01 6.49838566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.294206098999997 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:12.61, Y:-5.99, Z:6.52 [[-4.49571036e-02 9.98980424e-01 4.11950517e-03 1.26132005e+01] [-7.79222177e-01 -3.24862742e-02 -6.25905297e-01 -5.99237272e+00] [-6.25133312e-01 -3.13488991e-02 7.79888190e-01 6.51890041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.324206098999994 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:12.60, Y:-6.02, Z:6.54 [[-2.84544082e-02 9.99595053e-01 -2.77433365e-04 1.26046777e+01] [-7.81528852e-01 -2.24199902e-02 -6.23466115e-01 -6.02054968e+00] [-6.23219864e-01 -1.75235372e-02 7.81850322e-01 6.53592156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.354206098999995 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:12.61, Y:-6.08, Z:6.57 [[-3.78564877e-02 9.99275950e-01 3.80279982e-03 1.26113097e+01] [-7.90458686e-01 -2.76170812e-02 -6.11892444e-01 -6.07929960e+00] [-6.11344381e-01 -2.61700550e-02 7.90931840e-01 6.57460533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.384206098999996 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:12.61, Y:-6.10, Z:6.60 [[-3.99443904e-02 9.99189966e-01 4.88435638e-03 1.26131275e+01] [-7.89867642e-01 -2.85817233e-02 -6.12610965e-01 -6.10401143e+00] [-6.11975126e-01 -2.83283666e-02 7.90369502e-01 6.59708285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.414206098999998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:12.60, Y:-6.13, Z:6.62 [[-2.40485546e-02 9.99710789e-01 -6.67279177e-05 1.26049544e+01] [-7.90339792e-01 -1.90529023e-02 -6.12372436e-01 -6.13046076e+00] [-6.12196603e-01 -1.46739343e-02 7.90569412e-01 6.61725541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.444206098999995 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:12.61, Y:-6.16, Z:6.64 [[-2.72350625e-02 9.99628920e-01 -5.23316677e-04 1.26073474e+01] [-7.90395958e-01 -2.18549710e-02 -6.12206330e-01 -6.15694481e+00] [-6.11990590e-01 -1.62598502e-02 7.90697879e-01 6.63701943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.474206098999996 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:12.56, Y:-6.80, Z:5.83 [[ 0.05513976 -0.99555133 0.07640123 12.56103509] [ 0.3706874 -0.05063834 -0.9273762 -6.80245188] [ 0.92711944 0.07945627 0.36624615 5.82701244] [ 0. 0. 0. 1. ]] SLAMing on 30.504206098999997 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:12.58, Y:-6.21, Z:6.67 [[ 0.04403819 0.99720264 0.06039474 12.58286407] [-0.78735326 0.07185434 -0.61230042 -6.20634177] [-0.61492722 -0.02058739 0.78831508 6.67468579] [ 0. 0. 0. 1. ]] SLAMing on 30.534206098999995 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:12.58, Y:-6.23, Z:6.69 [[ 6.03737181e-02 9.96552815e-01 5.68990342e-02 1.25775500e+01] [-7.86260443e-01 8.25963073e-02 -6.12349872e-01 -6.23315486e+00] [-6.14938639e-01 -7.76762132e-03 7.88536705e-01 6.69257108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.564206098999996 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:12.60, Y:-6.26, Z:6.71 [[ 0.02708774 0.99755197 0.06446952 12.5980908 ] [-0.78914981 0.06092736 -0.61117137 -6.2566655 ] [-0.61360316 -0.03432085 0.78886833 6.71241342] [ 0. 0. 0. 1. ]] SLAMing on 30.594206098999997 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:12.59, Y:-6.28, Z:6.73 [[ 0.04793283 0.99708749 0.05932095 12.59021978] [-0.78781117 0.07424859 -0.61142514 -6.28393317] [-0.61404886 -0.01742637 0.78907561 6.7321919 ] [ 0. 0. 0. 1. ]] SLAMing on 30.624206098999995 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:12.59, Y:-6.31, Z:6.75 [[ 5.89879076e-02 9.96620001e-01 5.71751804e-02 1.25875187e+01] [-7.87452808e-01 8.16569174e-02 -6.10942078e-01 -6.30978138e+00] [-6.13545843e-01 -8.98456152e-03 7.89607989e-01 6.74857684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.654206098999996 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:12.60, Y:-6.33, Z:6.77 [[ 0.03272188 0.99746465 0.06319461 12.60444752] [-0.78918897 0.0645833 -0.61074525 -6.33421689] [-0.61327811 -0.02988775 0.78930139 6.7696831 ] [ 0. 0. 0. 1. ]] SLAMing on 30.684206098999997 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:12.60, Y:-6.36, Z:6.79 [[ 0.05224394 0.99693963 0.05815453 12.59710552] [-0.78764809 0.07693533 -0.61130307 -6.36070882] [-0.61390639 -0.01386842 0.789257 6.79016588] [ 0. 0. 0. 1. ]] SLAMing on 30.714206098999995 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:12.60, Y:-6.39, Z:6.81 [[ 0.0500419 0.99707579 0.05775536 12.60097855] [-0.78758109 0.07495645 -0.61163515 -6.38702817] [-0.61417573 -0.01487964 0.789029 6.80935671] [ 0. 0. 0. 1. ]] SLAMing on 30.744206098999996 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:12.60, Y:-6.41, Z:6.83 [[ 0.05015877 0.99709122 0.05738636 12.60361773] [-0.78703867 0.07483499 -0.61234782 -6.4128463 ] [-0.61486114 -0.01445067 0.78850298 6.82927236] [ 0. 0. 0. 1. ]] SLAMing on 30.774206098999997 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:12.60, Y:-6.44, Z:6.84 [[ 6.29186081e-02 9.96625409e-01 5.27166312e-02 1.25994694e+01] [-7.86936718e-01 8.20289970e-02 -6.11556903e-01 -6.43993342e+00] [-6.13817441e-01 -3.00634361e-03 7.89442279e-01 6.84425982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.804206098999995 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:12.61, Y:-6.46, Z:6.86 [[ 0.04091162 0.99742753 0.05886053 12.61362416] [-0.78901088 0.06839357 -0.61056052 -6.46439125] [-0.61301555 -0.02146258 0.78977927 6.8633883 ] [ 0. 0. 0. 1. ]] SLAMing on 30.834206098999996 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:12.61, Y:-6.49, Z:6.88 [[ 0.0468236 0.99726834 0.05712617 12.61371203] [-0.78979755 0.07197504 -0.60913005 -6.48903308] [-0.61157777 -0.01659645 0.79101023 6.88230988] [ 0. 0. 0. 1. ]] SLAMing on 30.864206098999997 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:12.63, Y:-6.51, Z:6.90 [[ 0.03004654 0.99766509 0.06133161 12.62591963] [-0.79126876 0.06123171 -0.60839497 -6.51304655] [-0.61072986 -0.03024962 0.79126102 6.9031456 ] [ 0. 0. 0. 1. ]] SLAMing on 30.894206098999994 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:12.62, Y:-6.54, Z:6.92 [[ 0.05011055 0.99720222 0.05546777 12.6180414 ] [-0.78927847 0.07357083 -0.60961203 -6.54002694] [-0.61198728 -0.01323152 0.79075691 6.92361257] [ 0. 0. 0. 1. ]] SLAMing on 30.924206098999996 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:12.62, Y:-6.57, Z:6.94 [[ 0.04773491 0.9973438 0.05501565 12.62116226] [-0.78991938 0.07140309 -0.60903938 -6.56597818] [-0.61134994 -0.01438549 0.79122962 6.94238174] [ 0. 0. 0. 1. ]] SLAMing on 30.954206098999997 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:12.62, Y:-6.59, Z:6.96 [[ 5.95226108e-02 9.96896934e-01 5.15127267e-02 1.26176837e+01] [-7.89016817e-01 7.85961441e-02 -6.09323484e-01 -6.59297841e+00] [-6.11481415e-01 -4.37588308e-03 7.91246694e-01 6.95973304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.984206098999994 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:12.64, Y:-6.62, Z:6.98 [[ 0.03020169 0.997782 0.0593206 12.63586021] [-0.79117947 0.06013207 -0.60862071 -6.61674132] [-0.61083787 -0.02855187 0.79124073 6.98079621] [ 0. 0. 0. 1. ]] SLAMing on 31.014206098999995 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:12.62, Y:-6.64, Z:7.00 [[ 5.69844442e-02 9.96892779e-01 5.43834576e-02 1.26233671e+01] [-7.85702943e-01 7.83870492e-02 -6.13617434e-01 -6.64379090e+00] [-6.15973748e-01 -7.76259420e-03 7.87728433e-01 7.00103112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.044206098999997 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:12.62, Y:-6.67, Z:7.02 [[ 7.27273399e-02 9.96007998e-01 5.17571435e-02 1.26174492e+01] [-7.83222639e-01 8.91645669e-02 -6.15314535e-01 -6.67194105e+00] [-6.17473102e-01 4.21282286e-03 7.86580715e-01 7.01770089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.074206098999994 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:12.63, Y:-6.70, Z:7.04 [[ 0.04582977 0.99727029 0.05789302 12.6344749 ] [-0.78488241 0.07179845 -0.61547102 -6.69612822] [-0.6179476 -0.01723231 0.78603042 7.03957463] [ 0. 0. 0. 1. ]] SLAMing on 31.104206098999995 meters Centerline goodness : 0.999940 Centerline is valid? [True, True] Translation: X:12.63, Y:-6.72, Z:7.06 [[ 6.26551486e-02 9.96599762e-01 5.35093058e-02 1.26281166e+01] [-7.83728635e-01 8.23261286e-02 -6.15623128e-01 -6.72349825e+00] [-6.17935077e-01 -3.36481660e-03 7.86221927e-01 7.05909399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.134206098999996 meters Centerline goodness : 0.999940 Centerline is valid? [True, True] Translation: X:12.63, Y:-6.75, Z:7.08 [[ 6.18608328e-02 9.96671904e-01 5.30881713e-02 1.26314830e+01] [-7.83755979e-01 8.14415468e-02 -6.15705968e-01 -6.74980953e+00] [-6.17980422e-01 -3.52008774e-03 7.86185606e-01 7.07931444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.164206098999998 meters Centerline goodness : 0.999940 Centerline is valid? [True, True] Translation: X:12.63, Y:-6.78, Z:7.10 [[ 6.13747112e-02 9.96713089e-01 5.28787540e-02 1.26342888e+01] [-7.83794806e-01 8.09299075e-02 -6.15724006e-01 -6.77641842e+00] [-6.17979649e-01 -3.65620965e-03 7.86185592e-01 7.09950158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.194206098999995 meters Centerline goodness : 0.999970 Centerline is valid? [True, True] Translation: X:12.64, Y:-6.80, Z:7.12 [[ 5.93650433e-02 9.96856851e-01 5.24615173e-02 1.26377320e+01] [-7.83390654e-01 7.90959078e-02 -6.16476212e-01 -6.80231730e+00] [-6.18688027e-01 -4.50072534e-03 7.85623873e-01 7.11911550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.224206098999996 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:12.64, Y:-6.83, Z:7.14 [[ 6.12532762e-02 9.96764301e-01 5.20477160e-02 1.26403833e+01] [-7.83437342e-01 8.03228364e-02 -6.16258203e-01 -6.82848805e+00] [-6.18444797e-01 -3.02829032e-03 7.85822411e-01 7.13812396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.254206098999997 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:12.64, Y:-6.85, Z:7.16 [[ 5.82231866e-02 9.96971236e-01 5.15598122e-02 1.26446881e+01] [-7.84128604e-01 7.76361759e-02 -6.15723116e-01 -6.85396957e+00] [-6.17861143e-01 -4.58016169e-03 7.86273890e-01 7.15847363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.284206098999995 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:12.65, Y:-6.88, Z:7.18 [[ 5.74872593e-02 9.97037368e-01 5.11048187e-02 1.26481931e+01] [-7.84397184e-01 7.67747528e-02 -6.15488988e-01 -6.88009787e+00] [-6.17589081e-01 -4.70370076e-03 7.86486874e-01 7.17779701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.314206098999996 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:12.65, Y:-6.91, Z:7.20 [[ 5.88757222e-02 9.96979381e-01 5.06533658e-02 1.26502914e+01] [-7.84492678e-01 7.75871957e-02 -6.15265361e-01 -6.90669652e+00] [-6.17336931e-01 -3.51300216e-03 7.86691027e-01 7.19806199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.344206098999997 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:12.65, Y:-6.93, Z:7.22 [[ 6.79416128e-02 9.96527284e-01 4.81384482e-02 1.26481268e+01] [-7.83128377e-01 8.31622911e-02 -6.16274272e-01 -6.93284532e+00] [-6.18137430e-01 4.17208320e-03 7.86058974e-01 7.21582043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.374206098999995 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:12.65, Y:-6.96, Z:7.23 [[ 6.98270870e-02 9.96459716e-01 4.68210776e-02 1.26499116e+01] [-7.85569294e-01 8.38552694e-02 -6.13065395e-01 -6.96070732e+00] [-6.14821163e-01 6.02736975e-03 7.88643524e-01 7.23150848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.404206098999996 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:12.67, Y:-6.98, Z:7.25 [[ 0.03035005 0.99790127 0.05720074 12.6734274 ] [-0.78759632 0.0591117 -0.6133497 -6.98232875] [-0.61544368 -0.0264359 0.78773741 7.25429526] [ 0. 0. 0. 1. ]] SLAMing on 31.434206098999997 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:12.66, Y:-7.01, Z:7.27 [[ 6.27554618e-02 9.96873443e-01 4.80113638e-02 1.26592095e+01] [-7.85514961e-01 7.90107092e-02 -6.13778098e-01 -7.00871604e+00] [-6.15652497e-01 8.04283387e-04 7.88017358e-01 7.27104903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.464206098999995 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:12.67, Y:-7.03, Z:7.29 [[ 4.96270258e-02 9.97419841e-01 5.18731069e-02 1.26690836e+01] [-7.86543438e-01 7.10379026e-02 -6.13435438e-01 -7.03427864e+00] [-6.15537634e-01 -1.03574754e-02 7.88039430e-01 7.29089505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.494206098999996 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:12.67, Y:-7.06, Z:7.31 [[ 5.29928307e-02 9.97303442e-01 5.07701175e-02 1.26699714e+01] [-7.87085435e-01 7.30038849e-02 -6.12508735e-01 -7.06151083e+00] [-6.14563486e-01 -7.50184830e-03 7.88831696e-01 7.30960110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.524206098999997 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:12.68, Y:-7.09, Z:7.33 [[ 4.70725729e-02 9.97545502e-01 5.18376649e-02 1.26753493e+01] [-7.90833947e-01 6.89202004e-02 -6.08137874e-01 -7.08920158e+00] [-6.10217863e-01 -1.23683708e-02 7.92137098e-01 7.33022481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.554206098999995 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:12.67, Y:-7.11, Z:7.35 [[ 6.12410624e-02 9.97020100e-01 4.69089720e-02 1.26698805e+01] [-7.87543032e-01 7.71405773e-02 -6.11412548e-01 -7.11300645e+00] [-6.13209185e-01 5.00719949e-04 7.89920404e-01 7.34771976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.584206098999996 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:12.67, Y:-7.14, Z:7.36 [[ 6.39927154e-02 9.96877205e-01 4.62684614e-02 1.26708559e+01] [-7.89068029e-01 7.89284869e-02 -6.09214199e-01 -7.14052502e+00] [-6.10963647e-01 2.47630717e-03 7.91654779e-01 7.36296746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.614206098999997 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:12.68, Y:-7.17, Z:7.38 [[ 4.47142852e-02 9.97760604e-01 4.97434409e-02 1.26825935e+01] [-7.91442161e-01 6.57649282e-02 -6.07695878e-01 -7.16541049e+00] [-6.09606380e-01 -1.21963696e-02 7.92610440e-01 7.38229333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.644206098999994 meters Centerline goodness : 0.998298 Centerline is valid? [True, True] Translation: X:12.70, Y:-7.19, Z:7.41 [[ 0.02461317 0.99825606 0.05365652 12.69553718] [-0.79203333 0.05222157 -0.60824017 -7.18878513] [-0.60998147 -0.02752703 0.79193741 7.40513724] [ 0. 0. 0. 1. ]] SLAMing on 31.674206098999996 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:12.68, Y:-7.22, Z:7.43 [[ 5.66603694e-02 9.97345521e-01 4.57330661e-02 1.26814441e+01] [-7.90275343e-01 7.27950944e-02 -6.08412489e-01 -7.21503386e+00] [-6.10126613e-01 -1.66883820e-03 7.92302171e-01 7.42677267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.704206098999997 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:12.68, Y:-7.24, Z:7.44 [[ 7.01169041e-02 9.96677717e-01 4.14384916e-02 1.26771635e+01] [-7.90168890e-01 8.08480602e-02 -6.07533304e-01 -7.24182347e+00] [-6.08865128e-01 9.85494746e-03 7.93212541e-01 7.44333431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.734206098999994 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:12.70, Y:-7.26, Z:7.46 [[ 0.03020394 0.99824879 0.05086328 12.70063482] [-0.79267707 0.05492044 -0.60716292 -7.26466774] [-0.60889308 -0.02197944 0.79294774 7.46416243] [ 0. 0. 0. 1. ]] SLAMing on 31.764206098999995 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:12.69, Y:-7.29, Z:7.48 [[ 6.21470623e-02 9.97183118e-01 4.19949000e-02 1.26851495e+01] [-7.91223969e-01 7.48709378e-02 -6.06925838e-01 -7.29222025e+00] [-6.08360397e-01 4.49128643e-03 7.93648194e-01 7.47998725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.794206098999997 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:12.70, Y:-7.32, Z:7.50 [[ 0.02984783 0.99832937 0.04947293 12.70322571] [-0.79250392 0.05379868 -0.60748929 -7.31610929] [-0.60913598 -0.02107525 0.79278572 7.50094519] [ 0. 0. 0. 1. ]] SLAMing on 31.824206098999994 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:12.70, Y:-7.34, Z:7.53 [[ 0.02668827 0.99868914 0.04367767 12.70015746] [-0.79598526 0.04766266 -0.60343661 -7.33850999] [-0.60472738 -0.01866211 0.79621387 7.52641777] [ 0. 0. 0. 1. ]] SLAMing on 31.854206098999995 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:12.69, Y:-7.37, Z:7.54 [[ 4.71186924e-02 9.98102957e-01 3.96272200e-02 1.26926312e+01] [-7.95360943e-01 6.14885933e-02 -6.03009223e-01 -7.36593949e+00] [-6.04301911e-01 -3.10493699e-03 7.96749371e-01 7.54421985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.884206098999996 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:12.70, Y:-7.39, Z:7.56 [[ 0.02902227 0.99861228 0.04394561 12.70472058] [-0.79684998 0.04965641 -0.60213317 -7.39112057] [-0.60347976 -0.01754279 0.79718532 7.5632182 ] [ 0. 0. 0. 1. ]] SLAMing on 31.914206098999994 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:12.72, Y:-7.41, Z:7.58 [[ 1.14787878e-02 9.98809588e-01 4.74093217e-02 1.27157007e+01] [-7.99492524e-01 3.76436837e-02 -5.99495335e-01 -7.41483803e+00] [-6.00566350e-01 -3.10219186e-02 7.98972903e-01 7.58322998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.944206098999995 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:12.71, Y:-7.44, Z:7.60 [[ 0.03234779 0.99859845 0.04188969 12.70706419] [-0.79936779 0.0510075 -0.598673 -7.44126924] [-0.59997062 -0.01411952 0.79989742 7.60401403] [ 0. 0. 0. 1. ]] SLAMing on 31.974206098999996 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:12.69, Y:-7.47, Z:7.62 [[ 6.33458598e-02 9.97454232e-01 3.27468706e-02 1.26932554e+01] [-8.00601780e-01 7.03799756e-02 -5.95049115e-01 -7.47111686e+00] [-5.95838982e-01 1.14766949e-02 8.03021914e-01 7.61775196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.004206098999994 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:12.72, Y:-7.50, Z:7.64 [[ 0.02176566 0.99879875 0.04390127 12.71842653] [-0.80392975 0.04358936 -0.59312471 -7.49668097] [-0.59432584 -0.02238379 0.80391278 7.63590117] [ 0. 0. 0. 1. ]] SLAMing on 32.034206098999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.74, Y:-7.52, Z:7.66 [[-7.74324805e-03 9.98700703e-01 5.03681197e-02 1.27376363e+01] [-8.04238758e-01 2.37136447e-02 -5.93833043e-01 -7.51927799e+00] [-5.94255889e-01 -4.51061906e-02 8.03010193e-01 7.65839623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06420609899999 meters Centerline goodness : 0.999969 Centerline is valid? [True, True] Translation: X:12.70, Y:-7.55, Z:7.68 [[ 6.37037577e-02 9.97462549e-01 3.17851255e-02 1.27001352e+01] [-7.99333101e-01 7.00673293e-02 -5.96789044e-01 -7.54594631e+00] [-5.97501821e-01 1.26108017e-02 8.01768384e-01 7.67938041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.09420609899999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:12.74, Y:-7.57, Z:7.70 [[ 3.35602986e-03 9.98874302e-01 4.73166475e-02 1.27359771e+01] [-8.03191232e-01 3.08799338e-02 -5.94920393e-01 -7.57051336e+00] [-5.95711828e-01 -3.60077458e-02 8.02390716e-01 7.69791935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.12420609899999 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:12.74, Y:-7.59, Z:7.72 [[-8.90743130e-03 9.98783451e-01 4.85002678e-02 1.27449145e+01] [-8.02170963e-01 2.18211579e-02 -5.96695553e-01 -7.59450131e+00] [-5.97027975e-01 -4.42205311e-02 8.01000712e-01 7.71858997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.15420609899999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:12.74, Y:-7.62, Z:7.74 [[ 8.09100216e-03 9.99097937e-01 4.16874964e-02 1.27379754e+01] [-8.03489727e-01 3.13122732e-02 -5.94494576e-01 -7.62187475e+00] [-5.95263635e-01 -2.86854182e-02 8.03018276e-01 7.73978690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.184206098999994 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:12.74, Y:-7.65, Z:7.76 [[ 1.14611657e-02 9.99196555e-01 3.84042433e-02 1.27378065e+01] [-8.03118824e-01 3.20792364e-02 -5.94954685e-01 -7.64789944e+00] [-5.95708651e-01 -2.40242965e-02 8.02841227e-01 7.76063120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.214206098999995 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:12.74, Y:-7.67, Z:7.78 [[ 0.01434582 0.99917647 0.03795492 12.73799295] [-0.80357598 0.03410977 -0.594224 -7.67464121] [-0.59502928 -0.02197503 0.80340355 7.77714531] [ 0. 0. 0. 1. ]] SLAMing on 32.24420609899999 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:12.75, Y:-7.70, Z:7.79 [[-7.13787910e-03 9.99007070e-01 4.39764164e-02 1.27528847e+01] [-8.07417224e-01 2.01868499e-02 -5.89635410e-01 -7.70247860e+00] [-5.89937689e-01 -3.97160623e-02 8.06471424e-01 7.79499859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.27420609899999 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:12.74, Y:-7.73, Z:7.81 [[ 0.01555103 0.99917701 0.03746288 12.74407905] [-0.80569109 0.03471037 -0.59131807 -7.72688697] [-0.59213177 -0.0209879 0.8055678 7.81242389] [ 0. 0. 0. 1. ]] SLAMing on 32.30420609899999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:12.76, Y:-7.75, Z:7.83 [[-5.59985860e-03 9.99068172e-01 4.27952098e-02 1.27569976e+01] [-8.06690489e-01 2.07772359e-02 -5.90608806e-01 -7.75302984e+00] [-5.90947626e-01 -3.78298145e-02 8.05822442e-01 7.83399806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.33420609899999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:12.75, Y:-7.78, Z:7.85 [[ 0.02137127 0.99916579 0.03479937 12.74534785] [-0.806577 0.03779793 -0.58991936 -7.77700565] [-0.59074259 -0.01546105 0.80671194 7.84984378] [ 0. 0. 0. 1. ]] SLAMing on 32.36420609899999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:12.76, Y:-7.80, Z:7.87 [[ 5.60963904e-03 9.99243713e-01 3.84777034e-02 1.27555947e+01] [-8.06794133e-01 2.72561177e-02 -5.90203635e-01 -7.80134874e+00] [-5.90806024e-01 -2.77327560e-02 8.06336863e-01 7.86929055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.394206098999994 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:12.76, Y:-7.83, Z:7.89 [[ 6.14549240e-03 9.99309960e-01 3.66310921e-02 1.27569669e+01] [-8.08092330e-01 2.65402853e-02 -5.88457644e-01 -7.82775208e+00] [-5.89023785e-01 -2.59849426e-02 8.07697817e-01 7.88760158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.424206098999996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:12.76, Y:-7.85, Z:7.91 [[ 4.64038353e-03 9.99348082e-01 3.58033174e-02 1.27602374e+01] [-8.09192468e-01 2.47884052e-02 -5.87020515e-01 -7.85385770e+00] [-5.87525333e-01 -2.62477744e-02 8.08779968e-01 7.90733908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.45420609899999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:12.76, Y:-7.88, Z:7.93 [[ 4.41412927e-03 9.99378919e-01 3.49612954e-02 1.27624121e+01] [-8.09965016e-01 2.40769955e-02 -5.85983764e-01 -7.87971711e+00] [-5.86461583e-01 -2.57308181e-02 8.09568241e-01 7.92687992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.48420609899999 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:12.76, Y:-7.91, Z:7.94 [[ 5.13533052e-03 9.99396034e-01 3.43685268e-02 1.27635986e+01] [-8.10995942e-01 2.42694500e-02 -5.84548181e-01 -7.90644176e+00] [-5.85029239e-01 -2.48708877e-02 8.10630760e-01 7.94469740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.51420609899999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:12.77, Y:-7.93, Z:7.96 [[ 7.78659132e-03 9.99415112e-01 3.32986830e-02 1.27650421e+01] [-8.12364531e-01 2.57398058e-02 -5.82581609e-01 -7.93249483e+00] [-5.83097966e-01 -2.25143441e-02 8.12089814e-01 7.96388550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54420609899999 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:12.77, Y:-7.96, Z:7.98 [[ 4.03779810e-03 9.99438635e-01 3.32582480e-02 1.27694052e+01] [-8.13656367e-01 2.26179918e-02 -5.80905967e-01 -7.95808603e+00] [-5.81332101e-01 -2.47152042e-02 8.13290936e-01 7.98360854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.574206098999994 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:12.77, Y:-7.98, Z:8.00 [[ 7.65697352e-03 9.99410960e-01 3.34529990e-02 1.27692151e+01] [-8.13943949e-01 2.56627920e-02 -5.80376317e-01 -7.98392819e+00] [-5.80892949e-01 -2.27849401e-02 8.13661003e-01 8.00303203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.604206098999995 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:12.77, Y:-8.01, Z:8.02 [[ 1.91563375e-03 9.99458452e-01 3.28501721e-02 1.27737582e+01] [-8.14077162e-01 2.06365595e-02 -5.80389961e-01 -8.01022409e+00] [-5.80753567e-01 -2.56307603e-02 8.13675832e-01 8.02197204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.63420609899999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:12.77, Y:-8.04, Z:8.04 [[ 9.06264257e-03 9.99463348e-01 3.14783341e-02 1.27716864e+01] [-8.14546198e-01 2.56383971e-02 -5.79531849e-01 -8.03530000e+00] [-5.80027895e-01 -2.03884674e-02 8.14341422e-01 8.04043241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.66420609899999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:12.78, Y:-8.06, Z:8.06 [[ 1.16544604e-03 9.99513002e-01 3.11833360e-02 1.27779219e+01] [-8.14913811e-01 1.90225701e-02 -5.79269904e-01 -8.06076515e+00] [-5.79580988e-01 -2.47366234e-02 8.14539120e-01 8.05996880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.69420609899999 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:12.80, Y:-8.08, Z:8.08 [[-3.07294700e-02 9.98696142e-01 4.07641493e-02 1.27963590e+01] [-8.11616826e-01 -1.12805578e-03 -5.84189058e-01 -8.08307062e+00] [-5.83381374e-01 -5.10366895e-02 8.10593257e-01 8.08256997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.77, Y:-8.11, Z:8.10 [[ 1.97733456e-02 9.99483145e-01 2.53467353e-02 1.27707466e+01] [-8.12288775e-01 3.08405473e-02 -5.82439531e-01 -8.11137130e+00] [-5.82920201e-01 -9.07209044e-03 8.12478760e-01 8.10196304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.754206098999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.79, Y:-8.13, Z:8.12 [[-1.79710700e-02 9.99174324e-01 3.64377739e-02 1.27921117e+01] [-8.12420855e-01 6.64986373e-03 -5.83033562e-01 -8.13408722e+00] [-5.82794471e-01 -4.00805444e-02 8.11630553e-01 8.12397464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.784206098999995 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:12.78, Y:-8.16, Z:8.15 [[ 2.92936669e-03 9.99507762e-01 3.12354220e-02 1.27833389e+01] [-8.12037121e-01 2.06067038e-02 -5.83241869e-01 -8.15947692e+00] [-5.83598434e-01 -2.36557929e-02 8.11697771e-01 8.14520300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.81420609899999 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:12.79, Y:-8.19, Z:8.17 [[-3.15021689e-04 9.99528016e-01 3.07188294e-02 1.27863582e+01] [-8.12444165e-01 1.76544581e-02 -5.82771653e-01 -8.18525469e+00] [-5.83038918e-01 -2.51409194e-02 8.12055142e-01 8.16522451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.84420609899999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:12.79, Y:-8.21, Z:8.19 [[-4.75045523e-04 9.99539621e-01 3.03367957e-02 1.27876143e+01] [-8.11593170e-01 1.73380860e-02 -5.83965682e-01 -8.21122109e+00] [-5.84222818e-01 -2.48985464e-02 8.11211292e-01 8.18597377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.87420609899999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:12.79, Y:-8.24, Z:8.21 [[ 4.98463737e-03 9.99540777e-01 2.98896132e-02 1.27869265e+01] [-8.11588397e-01 2.15059128e-02 -5.83833683e-01 -8.23749355e+00] [-5.84208377e-01 -2.13478640e-02 8.11322896e-01 8.20636952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90420609899999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:12.79, Y:-8.26, Z:8.23 [[ 2.52233163e-03 9.99561887e-01 2.94901930e-02 1.27907578e+01] [-8.11130575e-01 1.92927911e-02 -5.84546815e-01 -8.26283422e+00] [-5.84859666e-01 -2.24459763e-02 8.10823871e-01 8.22760997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.934206098999994 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:12.77, Y:-8.29, Z:8.24 [[ 4.28234946e-02 9.98922568e-01 1.78843721e-02 1.27711098e+01] [-8.12212237e-01 4.52321559e-02 -5.81605824e-01 -8.29217768e+00] [-5.81788132e-01 1.03804880e-02 8.13274133e-01 8.24462310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.964206098999995 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:12.81, Y:-8.31, Z:8.27 [[-2.99396671e-02 9.98854671e-01 3.73224134e-02 1.28115072e+01] [-8.11269056e-01 -2.47074267e-03 -5.84667781e-01 -8.31396470e+00] [-5.83905930e-01 -4.77832778e-02 8.10413859e-01 8.26648934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.99420609899999 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:12.80, Y:-8.34, Z:8.29 [[-3.83071483e-03 9.99582367e-01 2.86429273e-02 1.27976043e+01] [-8.10495083e-01 1.36738271e-02 -5.85585815e-01 -8.33904268e+00] [-5.85732914e-01 -2.54581640e-02 8.10104213e-01 8.28821174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.02420609899999 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:12.78, Y:-8.37, Z:8.30 [[ 3.36807964e-02 9.99268112e-01 1.81340459e-02 1.27791640e+01] [-8.13490028e-01 3.79506674e-02 -5.80339315e-01 -8.36841885e+00] [-5.80602771e-01 4.79442482e-03 8.14172854e-01 8.30383400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.05420609899999 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:12.80, Y:-8.39, Z:8.32 [[ 2.86402621e-03 9.99651899e-01 2.62274296e-02 1.27971991e+01] [-8.15178456e-01 1.75250242e-02 -5.78944694e-01 -8.39412731e+00] [-5.79202799e-01 -1.97219228e-02 8.14944883e-01 8.32348281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.08420609899999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:12.82, Y:-8.42, Z:8.35 [[-3.12403100e-02 9.98859281e-01 3.61134266e-02 1.28173117e+01] [-8.12565358e-01 -4.34089311e-03 -5.82853923e-01 -8.41505574e+00] [-5.82032286e-01 -4.75530566e-02 8.11774061e-01 8.34686719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.11420609899999 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:12.80, Y:-8.44, Z:8.37 [[ 1.00232339e-03 9.99625879e-01 2.73330665e-02 1.28021596e+01] [-8.12511652e-01 1.67477611e-02 -5.82704323e-01 -8.43998490e+00] [-5.82944089e-01 -2.16243768e-02 8.12224462e-01 8.36781309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.144206098999994 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:12.80, Y:-8.47, Z:8.39 [[ 7.58109299e-03 9.99606218e-01 2.70173100e-02 1.27993319e+01] [-8.14380666e-01 2.18503663e-02 -5.79919557e-01 -8.46746923e+00] [-5.80281534e-01 -1.76059508e-02 8.14225627e-01 8.38640906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.17420609899999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:12.80, Y:-8.49, Z:8.41 [[ 4.24188298e-03 9.99638078e-01 2.65653798e-02 1.28023535e+01] [-8.12669752e-01 1.89262311e-02 -5.82417094e-01 -8.49117934e+00] [-5.82709087e-01 -1.91183355e-02 8.12455912e-01 8.40826487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20420609899999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:12.80, Y:-8.52, Z:8.43 [[ 2.18586074e-03 9.99653541e-01 2.62301357e-02 1.28047321e+01] [-8.11668496e-01 1.70950577e-02 -5.83868145e-01 -8.51644559e+00] [-5.84114264e-01 -2.00139204e-02 8.11424654e-01 8.42868769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.23420609899999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:12.81, Y:-8.54, Z:8.45 [[ 4.30202406e-03 9.99656781e-01 2.58420747e-02 1.28052088e+01] [-8.10982660e-01 1.86070326e-02 -5.84774233e-01 -8.54183307e+00] [-5.85054372e-01 -1.84417617e-02 8.10784363e-01 8.44943903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.26420609899999 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:12.81, Y:-8.57, Z:8.47 [[ 9.48763118e-03 9.99631404e-01 2.54370189e-02 1.28051424e+01] [-8.10782092e-01 2.25791533e-02 -5.84912455e-01 -8.56737029e+00] [-5.85271205e-01 -1.50744458e-02 8.10697464e-01 8.47068834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.29420609899999 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:12.81, Y:-8.59, Z:8.49 [[ 6.67501611e-03 9.99664123e-01 2.50416895e-02 1.28078038e+01] [-8.10088410e-01 2.00876169e-02 -5.85963528e-01 -8.59283890e+00] [-5.86269744e-01 -1.63746664e-02 8.09950404e-01 8.49110790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.324206098999994 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:12.79, Y:-8.62, Z:8.51 [[ 3.43861709e-02 9.99266162e-01 1.68739305e-02 1.27946401e+01] [-8.11972359e-01 3.77769368e-02 -5.82472137e-01 -8.62213817e+00] [-5.82682142e-01 6.32782136e-03 8.12675507e-01 8.50630067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.354206098999995 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:12.83, Y:-8.64, Z:8.53 [[-1.99558483e-02 9.99281858e-01 3.22107450e-02 1.28252935e+01] [-8.12161904e-01 2.58707671e-03 -5.83426386e-01 -8.64256419e+00] [-5.83090735e-01 -3.78031084e-02 8.11527030e-01 8.53117515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38420609899999 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:12.81, Y:-8.67, Z:8.55 [[ 1.06927947e-02 9.99653105e-01 2.40693735e-02 1.28107976e+01] [-8.11168686e-01 2.27469635e-02 -5.84369693e-01 -8.66815734e+00] [-5.84714483e-01 -1.32757769e-02 8.11130524e-01 8.55264337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.41420609899999 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:12.80, Y:-8.70, Z:8.57 [[ 2.98570113e-02 9.99358326e-01 1.97862418e-02 1.28034485e+01] [-8.12891733e-01 3.57955017e-02 -5.81313781e-01 -8.69507605e+00] [-5.81649025e-01 1.27221972e-03 8.13438869e-01 8.56910076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.44420609899999 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:12.82, Y:-8.72, Z:8.59 [[-6.66715712e-03 9.99564497e-01 2.87465544e-02 1.28236510e+01] [-8.12769629e-01 1.13302215e-02 -5.82475027e-01 -8.71811149e+00] [-5.82547062e-01 -2.72477788e-02 8.12340125e-01 8.59245421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.47420609899999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:12.81, Y:-8.74, Z:8.61 [[ 2.77804156e-02 9.99424427e-01 1.94695476e-02 1.28077491e+01] [-8.13882973e-01 3.39226043e-02 -5.80037726e-01 -8.74408664e+00] [-5.80364330e-01 2.67755861e-04 8.14356908e-01 8.60925426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.504206098999994 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:12.82, Y:-8.77, Z:8.63 [[ 1.31412545e-02 9.99661355e-01 2.24606955e-02 1.28173199e+01] [-8.16681538e-01 2.36911273e-02 -5.76602112e-01 -8.77025058e+00] [-5.76938968e-01 -1.07659603e-02 8.16716304e-01 8.62767044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.534206098999995 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:12.84, Y:-8.79, Z:8.65 [[-2.64542025e-02 9.99215546e-01 2.94697782e-02 1.28398575e+01] [-8.17322693e-01 -4.64591398e-03 -5.76161463e-01 -8.79288768e+00] [-5.75572576e-01 -3.93282105e-02 8.16804445e-01 8.65070966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56420609899999 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:12.83, Y:-8.82, Z:8.67 [[-6.65295908e-04 9.99768170e-01 2.15212388e-02 1.28275650e+01] [-8.18058061e-01 1.18335040e-02 -5.75013893e-01 -8.81771699e+00] [-5.75135259e-01 -1.79881773e-02 8.17860538e-01 8.67338494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.59420609899999 meters Centerline goodness : 0.999908 Centerline is valid? [True, True] Translation: X:12.83, Y:-8.84, Z:8.69 [[-1.02927293e-03 9.99777006e-01 2.10921649e-02 1.28290740e+01] [-8.17954195e-01 1.12922535e-02 -5.75172514e-01 -8.84266679e+00] [-5.75282432e-01 -1.78444343e-02 8.17760173e-01 8.69488101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.62420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.83, Y:-8.87, Z:8.72 [[-2.81256855e-04 9.99786677e-01 2.06524129e-02 1.28300442e+01] [-8.17680499e-01 1.16590924e-02 -5.75554226e-01 -8.86803125e+00] [-5.75672235e-01 -1.70489539e-02 8.17502790e-01 8.71560103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.65420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.82, Y:-8.90, Z:8.73 [[ 2.77675851e-02 9.99537226e-01 1.24215282e-02 1.28159127e+01] [-8.20415814e-01 2.98873117e-02 -5.70985674e-01 -8.89639373e+00] [-5.71092683e-01 5.66407517e-03 8.20866046e-01 8.73085914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.684206098999994 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:12.84, Y:-8.92, Z:8.75 [[-1.44400534e-02 9.99589816e-01 2.47322685e-02 1.28392715e+01] [-8.22373722e-01 2.19704264e-03 -5.68943438e-01 -8.91941850e+00] [-5.68764404e-01 -2.85547413e-02 8.22004671e-01 8.75226440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.714206098999995 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:12.84, Y:-8.94, Z:8.77 [[-2.24705256e-02 9.99423065e-01 2.54678904e-02 1.28442023e+01] [-8.22254428e-01 -3.98485591e-03 -5.69106120e-01 -8.94296865e+00] [-5.68676297e-01 -3.37291993e-02 8.21869582e-01 8.77494546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.74420609899999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:12.82, Y:-8.97, Z:8.79 [[ 2.52161261e-02 9.99618876e-01 1.12360858e-02 1.28184800e+01] [-8.22631357e-01 2.71351969e-02 -5.67927224e-01 -8.97163528e+00] [-5.68015667e-01 5.07776801e-03 8.23002077e-01 8.78951775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.77420609899999 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:12.85, Y:-8.99, Z:8.81 [[-3.44922967e-02 9.99012610e-01 2.80015383e-02 1.28536519e+01] [-8.22424016e-01 -1.24540335e-02 -5.68738635e-01 -8.99294878e+00] [-5.67828336e-01 -4.26462393e-02 8.22041531e-01 8.81435689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.80420609899999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:12.83, Y:-9.02, Z:8.83 [[ 1.26466337e-02 9.99819919e-01 1.41489521e-02 1.28290943e+01] [-8.23542642e-01 1.84401758e-02 -5.66954563e-01 -9.02067046e+00] [-5.67113375e-01 -4.48219870e-03 8.23627543e-01 8.83018949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.83420609899999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:12.85, Y:-9.04, Z:8.85 [[-2.40713337e-02 9.99416858e-01 2.42180814e-02 1.28508151e+01] [-8.22771550e-01 -6.04462723e-03 -5.68340073e-01 -9.04388373e+00] [-5.67862260e-01 -3.36066519e-02 8.22437260e-01 8.85338980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86420609899999 meters Centerline goodness : 0.999939 Centerline is valid? [True, True] Translation: X:12.83, Y:-9.07, Z:8.87 [[ 7.38975017e-03 9.99859800e-01 1.50256823e-02 1.28345813e+01] [-8.23525295e-01 1.46086298e-02 -5.67091418e-01 -9.06994237e+00] [-5.67231417e-01 -8.18336556e-03 8.23517791e-01 8.87222864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.894206098999994 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:12.85, Y:-9.09, Z:8.89 [[-2.00245954e-02 9.99552729e-01 2.22116651e-02 1.28513081e+01] [-8.23333584e-01 -3.88255052e-03 -5.67544479e-01 -9.09260893e+00] [-5.67204395e-01 -2.96524584e-02 8.23043077e-01 8.89487506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.92420609899999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:12.84, Y:-9.12, Z:8.91 [[ 1.06927315e-02 9.99834716e-01 1.47039577e-02 1.28355232e+01] [-8.24662112e-01 1.71338418e-02 -5.65366105e-01 -9.11949623e+00] [-5.65524595e-01 -6.08048888e-03 8.24709016e-01 8.91225593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.95420609899999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:12.85, Y:-9.15, Z:8.93 [[-8.49857797e-03 9.99792356e-01 1.85207477e-02 1.28457707e+01] [-8.26678980e-01 3.39606003e-03 -5.62663604e-01 -9.14529314e+00] [-5.62609668e-01 -2.00925533e-02 8.26478463e-01 8.93229462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.98420609899999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:12.85, Y:-9.17, Z:8.95 [[-9.07835016e-03 9.99788907e-01 1.84316297e-02 1.28468348e+01] [-8.28474861e-01 2.80147383e-03 -5.60019246e-01 -9.17084563e+00] [-5.59952666e-01 -2.03541927e-02 8.28274543e-01 8.95131852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.01420609899999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:12.85, Y:-9.20, Z:8.97 [[-1.25038758e-02 9.99756242e-01 1.81964329e-02 1.28490873e+01] [-8.29137385e-01 -1.94855987e-04 -5.59044864e-01 -9.19644599e+00] [-5.58905046e-01 -2.20775703e-02 8.28937712e-01 8.97150609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04420609899999 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:12.86, Y:-9.22, Z:9.00 [[-0.03910603 0.99896116 0.02339503 12.86397881] [-0.82775134 -0.01927099 -0.56076408 -9.21929416] [-0.55973068 -0.04129453 0.82764505 8.99558367] [ 0. 0. 0. 1. ]] SLAMing on 34.074206098999994 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:12.84, Y:-9.25, Z:9.01 [[-5.57510733e-04 9.99911142e-01 1.33190234e-02 1.28448111e+01] [-8.28628966e-01 6.99403546e-03 -5.59754518e-01 -9.24560205e+00] [-5.59797933e-01 -1.13485978e-02 8.28551437e-01 9.01420747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.104206098999995 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:12.85, Y:-9.27, Z:9.03 [[-1.56326789e-02 9.99740692e-01 1.65580430e-02 1.28538449e+01] [-8.29796814e-01 -3.73264706e-03 -5.58053147e-01 -9.27161250e+00] [-5.57846634e-01 -2.24636770e-02 8.29639992e-01 9.03446969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.13420609899999 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:12.86, Y:-9.30, Z:9.06 [[-0.03402007 0.99921075 0.02050637 12.86455522] [-0.82896278 -0.01675044 -0.55905289 -9.29538784] [-0.55826816 -0.03601804 0.82887837 9.05712281] [ 0. 0. 0. 1. ]] SLAMing on 34.16420609899999 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:12.84, Y:-9.32, Z:9.08 [[ 3.48536398e-03 9.99938580e-01 1.05208208e-02 1.28445086e+01] [-8.29612142e-01 8.76551108e-03 -5.58271314e-01 -9.32115001e+00] [-5.58329246e-01 -6.78242192e-03 8.29591738e-01 9.07546053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.19420609899999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:12.87, Y:-9.34, Z:9.10 [[-0.03478433 0.99919795 0.01983692 12.86584577] [-0.82924024 -0.01777774 -0.55860951 -9.34489227] [-0.55780882 -0.03588043 0.82919353 9.09811062] [ 0. 0. 0. 1. ]] SLAMing on 34.22420609899999 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:12.85, Y:-9.37, Z:9.12 [[ 3.86420361e-03 9.99958117e-01 8.29650401e-03 1.28459590e+01] [-8.30210080e-01 7.83286380e-03 -5.57395614e-01 -9.37092227e+00] [-5.57437254e-01 -4.73395111e-03 8.30205576e-01 9.11655814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.254206098999994 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:12.87, Y:-9.40, Z:9.14 [[-0.03151518 0.99932129 0.01907228 12.86647848] [-0.83241691 -0.01567974 -0.553928 -9.39701644] [-0.55325299 -0.03333323 0.83234609 9.13933357] [ 0. 0. 0. 1. ]] SLAMing on 34.284206098999995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:12.85, Y:-9.42, Z:9.16 [[-2.00768582e-03 9.99943919e-01 1.03984407e-02 1.28513214e+01] [-8.32640128e-01 4.08719907e-03 -5.53799343e-01 -9.42259011e+00] [-5.53810786e-01 -9.77001411e-03 8.32585227e-01 9.15907357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.31420609899999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:12.87, Y:-9.45, Z:9.18 [[-0.02977676 0.99940194 0.01758151 12.86766921] [-0.83402506 -0.0151471 -0.55151859 -9.44848579] [-0.55092244 -0.03108586 0.8339773 9.18004717] [ 0. 0. 0. 1. ]] SLAMing on 34.34420609899999 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:12.86, Y:-9.48, Z:9.20 [[ 5.79659364e-03 9.99913486e-01 1.18076131e-02 1.28561812e+01] [-8.23574358e-01 1.14709249e-02 -5.67092316e-01 -9.47619748e+00] [-5.67178699e-01 -6.43724363e-03 8.23569599e-01 9.19828896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.37420609899999 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:12.85, Y:-9.50, Z:9.21 [[ 1.05070887e-02 9.99893984e-01 1.00807954e-02 1.28538852e+01] [-8.22308912e-01 1.43761552e-02 -5.68859718e-01 -9.50383773e+00] [-5.68944333e-01 -2.31246837e-03 8.22372785e-01 9.21481460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40420609899999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:12.86, Y:-9.53, Z:9.24 [[-7.76820036e-03 9.99885191e-01 1.30099826e-02 1.28625210e+01] [-8.22371625e-01 1.01379594e-03 -5.68949806e-01 -9.53005836e+00] [-5.68897675e-01 -1.51187567e-02 8.22269334e-01 9.23504628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.434206098999994 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:12.87, Y:-9.56, Z:9.26 [[-1.55580515e-02 9.99778922e-01 1.41440211e-02 1.28675505e+01] [-8.25952730e-01 -4.87805037e-03 -5.63718274e-01 -9.55681007e+00] [-5.63524653e-01 -2.04526508e-02 8.25846024e-01 9.25644963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.464206098999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.86, Y:-9.58, Z:9.28 [[-7.21261788e-03 9.99919505e-01 1.04384429e-02 1.28636031e+01] [-8.27835612e-01 -1.15210008e-04 -5.60970754e-01 -9.58197343e+00] [-5.60924396e-01 -1.26873825e-02 8.27769806e-01 9.27715701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.49420609899999 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:12.85, Y:-9.61, Z:9.29 [[ 1.75967426e-02 9.99832735e-01 4.98569067e-03 1.28519511e+01] [-8.28372639e-01 1.73710940e-02 -5.59908042e-01 -9.60666649e+00] [-5.59900996e-01 5.72254798e-03 8.28539756e-01 9.29285861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.52420609899999 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:12.88, Y:-9.63, Z:9.32 [[-0.02812438 0.9994631 0.01680876 12.87639439] [-0.82906827 -0.01392885 -0.55897387 -9.63014174] [-0.55843963 -0.0296564 0.82901489 9.31513488] [ 0. 0. 0. 1. ]] SLAMing on 34.55420609899999 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:12.84, Y:-9.66, Z:9.33 [[ 3.26746454e-02 9.99465982e-01 3.43552889e-04 1.28438720e+01] [-8.29366864e-01 2.73055649e-02 -5.58036748e-01 -9.65544184e+00] [-5.57748127e-01 1.79487215e-02 8.29816167e-01 9.33421037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.58420609899999 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:12.85, Y:-9.68, Z:9.36 [[ 1.99013975e-02 9.99791158e-01 4.64481853e-03 1.28507726e+01] [-8.30139583e-01 1.91131520e-02 -5.57227924e-01 -9.68038936e+00] [-5.57200329e-01 7.23376669e-03 8.30346594e-01 9.35556980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.61420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.87, Y:-9.71, Z:9.38 [[-1.33689862e-02 9.99792287e-01 1.53835079e-02 1.28674543e+01] [-8.29823349e-01 -2.51010510e-03 -5.58020527e-01 -9.70517824e+00] [-5.57866005e-01 -2.02257627e-02 8.29684542e-01 9.37539730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.644206098999994 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:12.84, Y:-9.73, Z:9.40 [[ 4.47640546e-02 9.98995694e-01 -1.94503314e-03 1.28372597e+01] [-8.28097714e-01 3.60170822e-02 -5.59425550e-01 -9.73071018e+00] [-5.58793661e-01 2.66528334e-02 8.28878321e-01 9.39725623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.67420609899999 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:12.85, Y:-9.75, Z:9.42 [[ 1.36707902e-02 9.99884932e-01 6.57507026e-03 1.28527803e+01] [-8.26780880e-01 1.50017942e-02 -5.62324038e-01 -9.75219046e+00] [-5.62357970e-01 2.25127157e-03 8.26890830e-01 9.42110260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70420609899999 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:12.86, Y:-9.78, Z:9.44 [[ 7.09986765e-03 9.99929850e-01 9.48086516e-03 1.28570089e+01] [-8.27425216e-01 1.11985620e-02 -5.61464250e-01 -9.77557014e+00] [-5.61531035e-01 -3.85838504e-03 8.27446681e-01 9.44018845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.73420609899999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:12.83, Y:-9.80, Z:9.46 [[ 5.45775378e-02 9.98506340e-01 -2.52617099e-03 1.28330204e+01] [-8.26257382e-01 4.37417518e-02 -5.61591843e-01 -9.80323567e+00] [-5.60642517e-01 3.27375675e-02 8.27410551e-01 9.45978038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76420609899999 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:12.86, Y:-9.83, Z:9.48 [[ 2.43980816e-03 9.99916282e-01 1.27073647e-02 1.28599733e+01] [-8.26552239e-01 9.16891494e-03 -5.62785330e-01 -9.82505595e+00] [-5.62854727e-01 -9.13021250e-03 8.26505411e-01 9.48198457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.79420609899999 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:12.85, Y:-9.85, Z:9.50 [[ 2.48821214e-02 9.99668112e-01 6.67429041e-03 1.28496248e+01] [-8.28497702e-01 2.43568794e-02 -5.59462511e-01 -9.85059765e+00] [-5.59439396e-01 8.39097981e-03 8.28828784e-01 9.49963868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.824206098999994 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:12.85, Y:-9.88, Z:9.52 [[ 3.21670313e-02 9.99480593e-01 1.95614036e-03 1.28459063e+01] [-8.29461220e-01 2.77870152e-02 -5.57872716e-01 -9.87631549e+00] [-5.57637308e-01 1.63225666e-02 8.29924217e-01 9.52102517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.85420609899999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:12.83, Y:-9.90, Z:9.54 [[ 5.46360698e-02 9.98499504e-01 -3.69334158e-03 1.28321614e+01] [-8.28544693e-01 4.32715525e-02 -5.58248390e-01 -9.90225468e+00] [-5.57250923e-01 3.35605966e-02 8.29665652e-01 9.54047775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88420609899999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:12.84, Y:-9.93, Z:9.56 [[ 4.79275860e-02 9.98848598e-01 -2.10342088e-03 1.28362973e+01] [-8.29158673e-01 3.86109982e-02 -5.57678299e-01 -9.92756782e+00] [-5.56954972e-01 2.84722443e-02 8.30054510e-01 9.56166661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.91420609899999 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:12.87, Y:-9.95, Z:9.58 [[-8.04978566e-03 9.99853472e-01 1.51074974e-02 1.28666216e+01] [-8.29139886e-01 1.77153210e-03 -5.59038380e-01 -9.94955922e+00] [-5.58983229e-01 -1.70263678e-02 8.29004133e-01 9.58247396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.94420609899999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:12.86, Y:-9.97, Z:9.60 [[-1.76568441e-03 9.99922224e-01 1.23462253e-02 1.28636240e+01] [-8.28541301e-01 5.45015059e-03 -5.59901427e-01 -9.97451026e+00] [-5.59925169e-01 -1.12179668e-02 8.28467237e-01 9.60359875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.97420609899999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:12.86, Y:-10.00, Z:9.62 [[-9.60074630e-04 9.99935742e-01 1.12955453e-02 1.28640371e+01] [-8.28863977e-01 5.52357054e-03 -5.59422915e-01 -9.99927391e+00] [-5.59449360e-01 -9.89955835e-03 8.28805413e-01 9.62422190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.004206098999994 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:12.86, Y:-10.03, Z:9.64 [[ 3.05423419e-03 9.99949834e-01 9.53945928e-03 1.28628472e+01] [-8.29422952e-01 7.86206207e-03 -5.58565802e-01 -1.00251879e+01] [-5.58612780e-01 -6.20625571e-03 8.29405356e-01 9.64330832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.034206098999995 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:12.86, Y:-10.05, Z:9.67 [[ 5.88256580e-03 9.99946471e-01 8.51181598e-03 1.28626480e+01] [-8.27305251e-01 9.64802380e-03 -5.61669776e-01 -1.00479070e+01] [-5.61721833e-01 -3.73781064e-03 8.27317721e-01 9.66923926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.06420609899999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:12.86, Y:-10.07, Z:9.69 [[ 1.32946451e-02 9.99888972e-01 6.73026071e-03 1.28599815e+01] [-8.29508583e-01 1.47871563e-02 -5.58298174e-01 -1.00741957e+01] [-5.58335708e-01 1.83956705e-03 8.29613074e-01 9.68589655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.09420609899999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:12.87, Y:-10.10, Z:9.71 [[-6.06066610e-03 9.99920702e-01 1.10389692e-02 1.28708786e+01] [-8.30503667e-01 1.11552180e-03 -5.57012042e-01 -1.00994122e+01] [-5.56980186e-01 -1.25437684e-02 8.30431049e-01 9.70603685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12420609899999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:12.87, Y:-10.13, Z:9.72 [[-2.86777965e-03 9.99949499e-01 9.63200873e-03 1.28690833e+01] [-8.32703881e-01 2.94548408e-03 -5.53710729e-01 -1.01259517e+01] [-5.53711137e-01 -9.60853141e-03 8.32653381e-01 9.72414984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.15420609899999 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:12.88, Y:-10.15, Z:9.75 [[-2.37173215e-02 9.99631048e-01 1.32384543e-02 1.28802686e+01] [-8.31326940e-01 -1.23655147e-02 -5.55646122e-01 -1.01486645e+01] [-5.55277415e-01 -2.41839214e-02 8.31313497e-01 9.74570242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.184206098999994 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:12.87, Y:-10.17, Z:9.76 [[-9.18827544e-03 9.99919495e-01 8.75089419e-03 1.28737893e+01] [-8.33797077e-01 -2.83033328e-03 -5.52063786e-01 -1.01745149e+01] [-5.51994574e-01 -1.23689841e-02 8.33755958e-01 9.76420156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.214206098999995 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:12.88, Y:-10.20, Z:9.79 [[-1.76807016e-02 9.99813108e-01 7.81935630e-03 1.28793290e+01] [-8.29063034e-01 -1.02888459e-02 -5.59060484e-01 -1.01954981e+01] [-5.58875548e-01 -1.63673209e-02 8.29090003e-01 9.79187319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24420609899999 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:12.87, Y:-10.22, Z:9.80 [[ 6.72875403e-04 9.99991387e-01 4.09559613e-03 1.28703276e+01] [-8.37580425e-01 2.80106366e-03 -5.46306860e-01 -1.02246962e+01] [-5.46313627e-01 -3.06279470e-03 8.37575095e-01 9.80443559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.27420609899999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:12.88, Y:-10.25, Z:9.83 [[-1.14245022e-02 9.99927656e-01 3.76336747e-03 1.28762269e+01] [-8.29493216e-01 -7.37536002e-03 -5.58468091e-01 -1.02451713e+01] [-5.58399933e-01 -9.50190774e-03 8.29517467e-01 9.83465163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30420609899999 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:12.87, Y:-10.27, Z:9.86 [[-3.02113908e-04 9.99999934e-01 -2.00644624e-04 1.28708765e+01] [-8.29940333e-01 -3.62666557e-04 -5.57852053e-01 -1.02709732e+01] [-5.57852089e-01 -2.01179762e-06 8.29940388e-01 9.85562227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.33420609899999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:12.89, Y:-10.29, Z:9.85 [[-4.22868447e-02 9.99099805e-01 3.37666917e-03 1.28942935e+01] [-8.51739032e-01 -3.42827478e-02 -5.22843489e-01 -1.02941232e+01] [-5.22257067e-01 -2.49854423e-02 8.52422010e-01 9.85459600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36420609899999 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:12.87, Y:-10.23, Z:9.82 [[-1.01900630e-03 9.99996420e-01 2.47413960e-03 1.28717342e+01] [-8.28243913e-01 5.42443581e-04 -5.60367492e-01 -1.02320571e+01] [-5.60366828e-01 -2.62020906e-03 8.28240395e-01 9.82155861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.394206098999994 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:12.87, Y:-10.26, Z:9.84 [[-3.28166846e-04 9.99999076e-01 1.31943739e-03 1.28724094e+01] [-8.28345426e-01 4.67336833e-04 -5.60217491e-01 -1.02573301e+01] [-5.60217590e-01 -1.27679474e-03 8.28344507e-01 9.84326061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42420609899999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:12.88, Y:-10.28, Z:9.86 [[-5.31072353e-03 9.99985498e-01 8.94041853e-04 1.28753660e+01] [-8.28525825e-01 -3.89952079e-03 -5.59937274e-01 -1.02827260e+01] [-5.59925667e-01 -3.71440882e-03 8.28534520e-01 9.86471856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.45420609899999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:12.88, Y:-10.31, Z:9.89 [[-8.74503289e-03 9.99961649e-01 4.74123236e-04 1.28772952e+01] [-8.28389900e-01 -6.97900415e-03 -5.60108442e-01 -1.03075033e+01] [-5.60083653e-01 -5.29092565e-03 8.28419162e-01 9.88622385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48420609899999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:12.88, Y:-10.33, Z:9.91 [[-1.20174352e-02 9.99927786e-01 5.55256496e-05 1.28796184e+01] [-8.27889931e-01 -9.91869093e-03 -5.60802890e-01 -1.03322952e+01] [-5.60761841e-01 -6.78538152e-03 8.27949344e-01 9.90780757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.51420609899999 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:12.86, Y:-10.36, Z:9.93 [[ 1.15193849e-02 9.99933592e-01 -3.40090247e-04 1.28645738e+01] [-8.28591516e-01 9.35511171e-03 -5.59775474e-01 -1.03576272e+01] [-5.59735118e-01 6.73006505e-03 8.28644256e-01 9.92503628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54420609899999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] SLAMing on 35.574206098999994 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:12.92, Y:-10.56, Z:10.09 [[ 0.02562247 0.97905998 0.20195308 12.9201614 ] [ -0.83510019 0.13200932 -0.53402361 -10.56293503] [ -0.54950083 -0.15496805 0.82099558 10.09238192] [ 0. 0. 0. 1. ]] SLAMing on 35.60420609899999 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:12.85, Y:-10.60, Z:10.13 [[ 0.17430045 0.97173352 0.15922725 12.84847819] [ -0.80478049 0.23375647 -0.54560634 -10.59686986] [ -0.56740437 -0.03304355 0.82277604 10.12717314] [ 0. 0. 0. 1. ]] SLAMing on 35.63420609899999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:12.84, Y:-10.63, Z:10.15 [[ 2.02741883e-01 9.67665467e-01 1.50064228e-01 1.28396025e+01] [-7.97884408e-01 2.52086356e-01 -5.47570033e-01 -1.06250557e+01] [-5.67693756e-01 -8.71852864e-03 8.23193651e-01 1.01495919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66420609899999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:12.84, Y:-10.65, Z:10.16 [[ 2.10037559e-01 9.66271143e-01 1.49011083e-01 1.28440913e+01] [-7.97595679e-01 2.57491265e-01 -5.45471706e-01 -1.06501895e+01] [-5.65442621e-01 -4.28105070e-03 8.24776524e-01 1.01640860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.69420609899999 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:12.86, Y:-10.67, Z:10.19 [[ 0.1811371 0.97136722 0.15373702 12.86476848] [ -0.80514692 0.23623822 -0.54399443 -10.66726838] [ -0.56473692 -0.02524331 0.82488483 10.18904736] [ 0. 0. 0. 1. ]] SLAMing on 35.72420609899999 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:12.86, Y:-10.69, Z:10.21 [[ 1.96970767e-01 9.69111875e-01 1.48407177e-01 1.28625462e+01] [-8.00654255e-01 2.46364731e-01 -5.46129273e-01 -1.06943518e+01] [-5.65822658e-01 -1.12513361e-02 8.24450197e-01 1.02105279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.754206098999994 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:12.87, Y:-10.72, Z:10.23 [[ 0.19199765 0.97018263 0.14792756 12.87158375] [ -0.80212226 0.24197971 -0.54593562 -10.71732755] [ -0.56545273 -0.01383763 0.82466462 10.23308388] [ 0. 0. 0. 1. ]] SLAMing on 35.784206098999995 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:12.88, Y:-10.74, Z:10.25 [[ 1.95723764e-01 9.69467361e-01 1.47733691e-01 1.28771204e+01] [-8.00640977e-01 2.44961547e-01 -5.46779541e-01 -1.07422962e+01] [-5.66273992e-01 -1.12638969e-02 8.24140092e-01 1.02545514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.81420609899999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:12.88, Y:-10.77, Z:10.28 [[ 1.97047572e-01 9.69234585e-01 1.47501100e-01 1.28842836e+01] [-7.99853160e-01 2.45931665e-01 -5.47496610e-01 -1.07669598e+01] [-5.66927841e-01 -1.00963432e-02 8.23705583e-01 1.02752036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.84420609899999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:12.89, Y:-10.79, Z:10.30 [[ 1.97457001e-01 9.69231584e-01 1.46972343e-01 1.28911421e+01] [-8.00114316e-01 2.45964692e-01 -5.47100039e-01 -1.07901078e+01] [-5.66416644e-01 -9.56594221e-03 8.24063516e-01 1.02975354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.87420609899999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:12.90, Y:-10.81, Z:10.32 [[ 1.95685136e-01 9.69663099e-01 1.46495061e-01 1.28994088e+01] [-8.00731716e-01 2.44229467e-01 -5.46974119e-01 -1.08138111e+01] [-5.66159030e-01 -1.02685368e-02 8.24232073e-01 1.03190472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90420609899999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:12.90, Y:-10.84, Z:10.34 [[ 2.00046608e-01 9.68836738e-01 1.46070974e-01 1.29049882e+01] [-7.99661705e-01 2.47590321e-01 -5.47028509e-01 -1.08378915e+01] [-5.66147076e-01 -7.37616658e-03 8.24271242e-01 1.03409533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.934206098999994 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:12.91, Y:-10.86, Z:10.36 [[ 2.06967987e-01 9.67603561e-01 1.44594612e-01 1.29081655e+01] [-7.98011637e-01 2.52465441e-01 -5.47209858e-01 -1.08648457e+01] [-5.65987350e-01 -2.13325966e-03 8.24411165e-01 1.03582783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.964206098999995 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:12.93, Y:-10.88, Z:10.38 [[ 0.18375812 0.97153302 0.14952108 12.92678965] [ -0.80403759 0.23606335 -0.5457084 -10.88411854] [ -0.56547017 -0.01994222 0.82452762 10.38064672] [ 0. 0. 0. 1. ]] SLAMing on 35.99420609899999 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:12.93, Y:-10.91, Z:10.40 [[ 1.93380337e-01 9.70282089e-01 1.45453477e-01 1.29279733e+01] [-8.00427714e-01 2.41755019e-01 -5.48516166e-01 -1.09092359e+01] [-5.67379520e-01 -1.03527533e-02 8.23391341e-01 1.04029730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02420609899999 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:12.94, Y:-10.93, Z:10.42 [[ 1.94483485e-01 9.70118392e-01 1.45074051e-01 1.29353831e+01] [-8.00076526e-01 2.42451694e-01 -5.48720994e-01 -1.09329801e+01] [-5.67497777e-01 -9.35317144e-03 8.23321803e-01 1.04249639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.05420609899999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:12.94, Y:-10.96, Z:10.45 [[ 1.90557303e-01 9.70918835e-01 1.44929396e-01 1.29439010e+01] [-8.00328323e-01 2.39145732e-01 -5.49803504e-01 -1.09570984e+01] [-5.68473825e-01 -1.12220274e-02 8.22624809e-01 1.04458686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08420609899999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:12.95, Y:-10.98, Z:10.47 [[ 0.18586216 0.97186681 0.1446726 12.9523116 ] [ -0.80116568 0.23513673 -0.55031288 -10.98135265] [ -0.56884867 -0.01362438 0.82232935 10.46535228] [ 0. 0. 0. 1. ]] SLAMing on 36.11420609899999 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:12.96, Y:-11.01, Z:10.49 [[ 1.91846825e-01 9.70708735e-01 1.44635226e-01 1.29563549e+01] [-7.99480442e-01 2.40051389e-01 -5.50641765e-01 -1.10058507e+01] [-5.69232658e-01 -9.99416003e-03 8.22115745e-01 1.04876005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.144206098999994 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:12.96, Y:-11.03, Z:10.51 [[ 1.89337363e-01 9.71260542e-01 1.44237037e-01 1.29645089e+01] [-7.99896530e-01 2.37762463e-01 -5.51030446e-01 -1.10291771e+01] [-5.69488283e-01 -1.10440538e-02 8.21925255e-01 1.05090919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.17420609899999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:12.97, Y:-11.05, Z:10.53 [[ 0.18376252 0.97233902 0.14418099 12.97387312] [ -0.80083772 0.2331483 -0.55163467 -11.05238737] [ -0.56999147 -0.0140958 0.82152969 10.5295067 ] [ 0. 0. 0. 1. ]] SLAMing on 36.20420609899999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:12.98, Y:-11.08, Z:10.55 [[ 1.85881378e-01 9.71995676e-01 1.43779411e-01 1.29796252e+01] [-8.00201035e-01 2.34668079e-01 -5.51914120e-01 -1.10768877e+01] [-5.70198577e-01 -1.24618763e-02 8.21412372e-01 1.05507930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.23420609899999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:12.99, Y:-11.10, Z:10.57 [[ 1.85377075e-01 9.72108757e-01 1.43665944e-01 1.29864625e+01] [-8.00321145e-01 2.34188509e-01 -5.51943663e-01 -1.11013913e+01] [-5.70194182e-01 -1.26611907e-02 8.21412375e-01 1.05726105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.26420609899999 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:12.99, Y:-11.12, Z:10.60 [[ 1.84901235e-01 9.72273785e-01 1.43161519e-01 1.29926325e+01] [-8.00532256e-01 2.33508228e-01 -5.51925732e-01 -1.11244008e+01] [-5.70052313e-01 -1.25536647e-02 8.21512487e-01 1.05950890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.29420609899999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:13.00, Y:-11.15, Z:10.62 [[ 0.17658451 0.97394142 0.14232364 13.00235074] [ -0.80375989 0.22614506 -0.55029852 -11.14808005] [ -0.56814431 -0.01721984 0.82274876 10.61516454] [ 0. 0. 0. 1. ]] SLAMing on 36.324206098999994 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:13.01, Y:-11.17, Z:10.64 [[ 0.17419428 0.97445178 0.14177476 13.01010037] [ -0.80474588 0.2238483 -0.54979634 -11.17088552] [ -0.56748606 -0.01832127 0.82317915 10.63717907] [ 0. 0. 0. 1. ]] SLAMing on 36.35420609899999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:13.02, Y:-11.19, Z:10.66 [[ 0.17315916 0.97468314 0.14145206 13.0167783 ] [ -0.80471767 0.22282006 -0.55025512 -11.19488219] [ -0.56784274 -0.01854725 0.82292808 10.65894119] [ 0. 0. 0. 1. ]] SLAMing on 36.38420609899999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:13.02, Y:-11.22, Z:10.68 [[ 1.90110682e-01 9.72034027e-01 1.37868698e-01 1.30159553e+01] [-8.02423176e-01 2.34754819e-01 -5.48641250e-01 -1.12222040e+01] [-5.65663305e-01 -6.32647598e-03 8.24612031e-01 1.06763395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.41420609899999 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:13.04, Y:-11.24, Z:10.70 [[ 0.15969812 0.97635586 0.14569059 13.03788983] [ -0.80941838 0.21399368 -0.54685336 -11.24066812] [ -0.56510035 -0.03059319 0.82445476 10.70018805] [ 0. 0. 0. 1. ]] SLAMing on 36.44420609899999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:13.03, Y:-11.27, Z:10.72 [[ 1.92420303e-01 9.71883278e-01 1.35710429e-01 1.30277778e+01] [-8.04050591e-01 2.35428080e-01 -5.45963613e-01 -1.12697662e+01] [-5.62562952e-01 -4.06356667e-03 8.26744467e-01 1.07167056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.47420609899999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:13.04, Y:-11.29, Z:10.74 [[ 0.17848146 0.97401723 0.13940877 13.04157312] [ -0.80823948 0.22593461 -0.54378533 -11.2929654 ] [ -0.56115355 -0.01562007 0.82756432 10.73638444] [ 0. 0. 0. 1. ]] SLAMing on 36.504206098999994 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:13.05, Y:-11.31, Z:10.76 [[ 0.16644474 0.97580682 0.14176461 13.05434887] [ -0.81157924 0.21722564 -0.54235797 -11.31402117] [ -0.56003151 -0.02478059 0.82810061 10.75739024] [ 0. 0. 0. 1. ]] SLAMing on 36.53420609899999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:13.07, Y:-11.33, Z:10.78 [[ 0.1469001 0.97831682 0.14600195 13.06909451] [ -0.8145291 0.20338749 -0.54330091 -11.33188726] [ -0.56121538 -0.03911188 0.82674516 10.78186014] [ 0. 0. 0. 1. ]] SLAMing on 36.56420609899999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:13.05, Y:-11.36, Z:10.80 [[ 1.94853327e-01 9.71972834e-01 1.31533233e-01 1.30506626e+01] [-8.06854008e-01 2.35092607e-01 -5.41957633e-01 -1.13648307e+01] [-5.57690587e-01 -5.25868738e-04 8.30048753e-01 1.07963802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.59420609899999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:13.07, Y:-11.39, Z:10.82 [[ 0.17170487 0.97553452 0.13729471 13.06986762] [ -0.81422727 0.21898247 -0.53766219 -11.38695473] [ -0.55457316 -0.01946988 0.83190717 10.81647243] [ 0. 0. 0. 1. ]] SLAMing on 36.62420609899999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:13.09, Y:-11.40, Z:10.84 [[ 0.13702503 0.97982923 0.1454607 13.0935385 ] [ -0.81869018 0.19468949 -0.54022438 -11.40276211] [ -0.55764731 -0.04506298 0.82885391 10.84172429] [ 0. 0. 0. 1. ]] SLAMing on 36.65420609899999 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:13.08, Y:-11.43, Z:10.87 [[ 0.16863391 0.97622777 0.13616878 13.08321209] [ -0.81178679 0.21590893 -0.54257307 -11.42926936] [ -0.55907496 -0.0190438 0.82889838 10.8651467 ] [ 0. 0. 0. 1. ]] SLAMing on 36.684206098999994 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:13.09, Y:-11.45, Z:10.89 [[ 0.16810504 0.97633458 0.13605691 13.08980649] [ -0.81190136 0.21540705 -0.54260113 -11.45369212] [ -0.55906786 -0.0192508 0.82889838 10.88713106] [ 0. 0. 0. 1. ]] SLAMing on 36.714206098999995 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:13.08, Y:-11.48, Z:10.90 [[ 1.91587986e-01 9.72821168e-01 1.30050066e-01 1.30844727e+01] [-8.09029482e-01 2.31551390e-01 -5.40236292e-01 -1.14829992e+01] [-5.55666573e-01 -1.71155426e-03 8.31403470e-01 1.09029899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.74420609899999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:13.11, Y:-11.50, Z:10.93 [[ 0.14548345 0.97913623 0.14186897 13.11475404] [ -0.8194656 0.19960192 -0.53724781 -11.49799067] [ -0.55435611 -0.03809608 0.83140723 10.92719857] [ 0. 0. 0. 1. ]] SLAMing on 36.77420609899999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:13.09, Y:-11.53, Z:10.94 [[ 1.98504167e-01 9.71724102e-01 1.27860726e-01 1.30935860e+01] [-8.09202910e-01 2.36095689e-01 -5.38005090e-01 -1.15301313e+01] [-5.52979879e-01 3.33098056e-03 8.33187949e-01 1.09445010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.80420609899999 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:13.11, Y:-11.55, Z:10.96 [[ 0.17080445 0.97618614 0.13374025 13.11491984] [ -0.81734148 0.21617887 -0.53405955 -11.55112443] [ -0.55025335 -0.01809171 0.83480174 10.96415577] [ 0. 0. 0. 1. ]] SLAMing on 36.83420609899999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:13.12, Y:-11.57, Z:10.99 [[ 0.16485238 0.97700548 0.13521825 13.12485898] [ -0.81969206 0.21195784 -0.53214548 -11.57197169] [ -0.54856962 -0.02311188 0.83578539 10.98597357] [ 0. 0. 0. 1. ]] SLAMing on 36.86420609899999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:13.13, Y:-11.60, Z:11.01 [[ 0.16639047 0.97687388 0.13428191 13.13025861] [ -0.81999147 0.21271302 -0.53138231 -11.59605726] [ -0.54765701 -0.02169307 0.83642167 11.00650255] [ 0. 0. 0. 1. ]] SLAMing on 36.894206098999994 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:13.15, Y:-11.61, Z:11.03 [[ 0.14068994 0.98027114 0.13883381 13.14846862] [ -0.82530605 0.19357837 -0.53046898 -11.61376709] [ -0.54687865 -0.03994873 0.83625824 11.03095388] [ 0. 0. 0. 1. ]] SLAMing on 36.92420609899999 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:13.13, Y:-11.64, Z:11.05 [[ 1.82908713e-01 9.74736171e-01 1.28194385e-01 1.31337857e+01] [-8.17437046e-01 2.23227773e-01 -5.31004744e-01 -1.16422282e+01] [-5.46206077e-01 -7.66544506e-03 8.37615760e-01 1.10512084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.95420609899999 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:13.14, Y:-11.67, Z:11.07 [[ 1.76660658e-01 9.75875284e-01 1.28290459e-01 1.31437578e+01] [-8.20927908e-01 2.17994354e-01 -5.27783887e-01 -1.16674182e+01] [-5.43017846e-01 -1.20785693e-02 8.39634282e-01 1.10697732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.98420609899999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:13.17, Y:-11.69, Z:11.09 [[ 0.14132427 0.98045537 0.1368748 13.16927005] [ -0.8285666 0.19281233 -0.52564322 -11.68502066] [ -0.54176087 -0.03912374 0.83962164 11.09298158] [ 0. 0. 0. 1. ]] SLAMing on 37.01420609899999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:13.14, Y:-11.72, Z:11.11 [[ 0.21800732 0.96922892 0.11431586 13.13548488] [ -0.81586887 0.24527309 -0.52364024 -11.72178044] [ -0.53556587 0.02089066 0.84423503 11.11105467] [ 0. 0. 0. 1. ]] SLAMing on 37.04420609899999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:13.17, Y:-11.74, Z:11.13 [[ 0.17252149 0.97682733 0.12666766 13.16596645] [ -0.82803744 0.21347103 -0.51844394 -11.74047633] [ -0.53347008 -0.01544284 0.84567795 11.1313063 ] [ 0. 0. 0. 1. ]] SLAMing on 37.074206098999994 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:13.19, Y:-11.76, Z:11.15 [[ 0.13917163 0.98079067 0.13667814 13.18854917] [ -0.83399643 0.19050545 -0.51783938 -11.75724866] [ -0.53392997 -0.04192053 0.84448888 11.14922483] [ 0. 0. 0. 1. ]] SLAMing on 37.10420609899999 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:13.17, Y:-11.78, Z:11.17 [[ 1.79231659e-01 9.75728903e-01 1.25813832e-01 1.31734415e+01] [-8.24822071e-01 2.18738254e-01 -5.21365637e-01 -1.17827389e+01] [-5.36231819e-01 -1.03287977e-02 8.44007555e-01 1.11683354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.13420609899999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:13.18, Y:-11.81, Z:11.19 [[ 0.17313205 0.97678685 0.12614572 13.18296432] [ -0.82641756 0.21375143 -0.52090723 -11.80634192] [ -0.53577916 -0.0140633 0.84424103 11.18861791] [ 0. 0. 0. 1. ]] SLAMing on 37.16420609899999 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:13.20, Y:-11.83, Z:11.21 [[ 0.16027738 0.97869113 0.12835431 13.19605437] [ -0.82885815 0.20405741 -0.5209172 -11.82998059] [ -0.5360087 -0.02289628 0.84390191 11.21165367] [ 0. 0. 0. 1. ]] SLAMing on 37.19420609899999 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:13.21, Y:-11.85, Z:11.24 [[ 0.14722588 0.9802656 0.13192385 13.20725812] [ -0.82750529 0.19513339 -0.52645794 -11.84834247] [ -0.54181135 -0.03165945 0.83990365 11.23523587] [ 0. 0. 0. 1. ]] SLAMing on 37.22420609899999 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:13.19, Y:-11.88, Z:11.26 [[ 1.91213282e-01 9.74241749e-01 1.19542858e-01 1.31901247e+01] [-8.19114935e-01 2.25487007e-01 -5.27452682e-01 -1.18780148e+01] [-5.40821785e-01 2.93661863e-03 8.41132078e-01 1.12557693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.254206098999994 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:13.22, Y:-11.89, Z:11.28 [[ 0.14426498 0.98077678 0.13139454 13.22200467] [ -0.8290651 0.19228996 -0.52504822 -11.89459761] [ -0.54022095 -0.03318856 0.84086851 11.27819085] [ 0. 0. 0. 1. ]] SLAMing on 37.28420609899999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:13.21, Y:-11.92, Z:11.30 [[ 1.78351281e-01 9.76469458e-01 1.21236208e-01 1.32092703e+01] [-8.24586997e-01 2.15552223e-01 -5.23061682e-01 -1.19235212e+01] [-5.36886491e-01 -6.68107976e-03 8.43628033e-01 1.12960274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.31420609899999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:13.24, Y:-11.94, Z:11.32 [[ 0.1388248 0.98168863 0.13044198 13.23617416] [ -0.8338427 0.18693092 -0.51938731 -11.94188465] [ -0.53426026 -0.03666425 0.84452455 11.31688056] [ 0. 0. 0. 1. ]] SLAMing on 37.34420609899999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:13.23, Y:-11.97, Z:11.34 [[ 0.15800171 0.97950573 0.12491592 13.23153699] [ -0.83028555 0.20026159 -0.52011652 -11.96740493] [ -0.53447297 -0.02153658 0.84491113 11.3384427 ] [ 0. 0. 0. 1. ]] SLAMing on 37.37420609899999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:13.24, Y:-11.99, Z:11.36 [[ 0.15912807 0.97954659 0.12315333 13.23660246] [ -0.82935989 0.20030501 -0.52157461 -11.99075987] [ -0.53557486 -0.01914128 0.8442708 11.36035055] [ 0. 0. 0. 1. ]] SLAMing on 37.40420609899999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:13.25, Y:-12.01, Z:11.38 [[ 0.14219365 0.98176525 0.12616641 13.25132818] [ -0.83572517 0.18737755 -0.51619095 -12.01196095] [ -0.53041909 -0.03204137 0.84712982 11.38078226] [ 0. 0. 0. 1. ]] SLAMing on 37.434206098999994 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:13.25, Y:-12.04, Z:11.40 [[ 0.1502725 0.98085035 0.12389824 13.25264067] [ -0.83369979 0.19307997 -0.5173633 -12.0355947 ] [ -0.53137824 -0.02554846 0.84674934 11.40394379] [ 0. 0. 0. 1. ]] SLAMing on 37.464206098999995 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:13.26, Y:-12.06, Z:11.42 [[ 0.15633918 0.9800736 0.12253083 13.25656341] [ -0.8328841 0.19749744 -0.51700951 -12.05948379] [ -0.5309069 -0.02122514 0.84716431 11.42285874] [ 0. 0. 0. 1. ]] SLAMing on 37.49420609899999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:13.27, Y:-12.08, Z:11.44 [[ 0.1484264 0.98112554 0.12394469 13.26560915] [ -0.83250604 0.19161206 -0.51982547 -12.08257691] [ -0.53376334 -0.02602888 0.84523322 11.4440641 ] [ 0. 0. 0. 1. ]] SLAMing on 37.52420609899999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:13.26, Y:-12.11, Z:11.46 [[ 1.69937539e-01 9.78353340e-01 1.18093075e-01 1.32598547e+01] [-8.29530491e-01 2.06709281e-01 -5.18797106e-01 -1.21102963e+01] [-5.31977816e-01 -9.79870335e-03 8.46701594e-01 1.14647280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.55420609899999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:13.28, Y:-12.13, Z:11.48 [[ 0.15163356 0.98085953 0.12215504 13.2751885 ] [ -0.83348316 0.19331461 -0.51762466 -12.13123226] [ -0.53133143 -0.0233249 0.84684288 11.4843401 ] [ 0. 0. 0. 1. ]] SLAMing on 37.58420609899999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:13.28, Y:-12.16, Z:11.51 [[ 0.16308468 0.97925047 0.12029924 13.27550742] [ -0.83160255 0.20204656 -0.51731459 -12.1559799 ] [ -0.53088661 -0.01567507 0.84729788 11.50511104] [ 0. 0. 0. 1. ]] SLAMing on 37.61420609899999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:13.29, Y:-12.18, Z:11.53 [[ 0.14924127 0.98106094 0.12347659 13.28859075] [ -0.83422176 0.19196551 -0.51693646 -12.17685721] [ -0.53084941 -0.02585861 0.84707156 11.5288099 ] [ 0. 0. 0. 1. ]] SLAMing on 37.644206098999994 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:13.29, Y:-12.20, Z:11.55 [[ 0.16048522 0.97992314 0.11830105 13.28741143] [ -0.8315479 0.19880027 -0.51865841 -12.20263367] [ -0.53176365 -0.01513598 0.84675753 11.55055697] [ 0. 0. 0. 1. ]] SLAMing on 37.67420609899999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:13.29, Y:-12.23, Z:11.57 [[ 0.158301 0.9802993 0.11812733 13.29410471] [ -0.83180088 0.1968604 -0.51899256 -12.2256155 ] [ -0.53202264 -0.01610138 0.84657702 11.57373361] [ 0. 0. 0. 1. ]] SLAMing on 37.70420609899999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:13.30, Y:-12.25, Z:11.60 [[ 0.15786181 0.98042561 0.11766589 13.30049087] [ -0.83190758 0.19624289 -0.51905539 -12.24836999] [ -0.5319863 -0.01594813 0.84660276 11.59613311] [ 0. 0. 0. 1. ]] SLAMing on 37.73420609899999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:13.30, Y:-12.27, Z:11.62 [[ 0.16239561 0.97971713 0.1173968 13.30405112] [ -0.83160924 0.1999311 -0.51812511 -12.27314342] [ -0.53108731 -0.01348702 0.84720975 11.61639852] [ 0. 0. 0. 1. ]] SLAMing on 37.76420609899999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:13.31, Y:-12.30, Z:11.64 [[ 0.15255147 0.98097007 0.12010733 13.31483589] [ -0.83265439 0.19303901 -0.51905935 -12.2950753 ] [ -0.53236709 -0.02082463 0.84625742 11.63965504] [ 0. 0. 0. 1. ]] SLAMing on 37.79420609899999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:13.32, Y:-12.32, Z:11.66 [[ 1.62261872e-01 9.79813981e-01 1.16771779e-01 1.33155884e+01] [-8.30666669e-01 1.99510420e-01 -5.19796573e-01 -1.23194578e+01] [-5.32601136e-01 -1.26552604e-02 8.46271750e-01 1.16625581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.824206098999994 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:13.32, Y:-12.34, Z:11.69 [[ 0.16007912 0.98020771 0.11647972 13.32230523] [ -0.8307649 0.19751362 -0.52040182 -12.34267452] [ -0.5331082 -0.0134618 0.84593997 11.68500388] [ 0. 0. 0. 1. ]] SLAMing on 37.85420609899999 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:13.33, Y:-12.37, Z:11.71 [[ 1.61987070e-01 9.79934628e-01 1.16139204e-01 1.33276882e+01] [-8.30168982e-01 1.98954473e-01 -5.20803782e-01 -1.23658568e+01] [-5.33460074e-01 -1.20516860e-02 8.45739384e-01 1.17076576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88420609899999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:13.33, Y:-12.39, Z:11.73 [[ 1.73437829e-01 9.78213382e-01 1.14096004e-01 1.33281551e+01] [-8.29167882e-01 2.07551368e-01 -5.19040512e-01 -1.23919321e+01] [-5.31413157e-01 -4.58348225e-03 8.47100377e-01 1.17256542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.91420609899999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:13.35, Y:-12.41, Z:11.75 [[ 0.14515366 0.98210603 0.11999235 13.3484027 ] [ -0.83370953 0.18671454 -0.51967885 -12.41040796] [ -0.53278405 -0.02460548 0.84589345 11.75100069] [ 0. 0. 0. 1. ]] SLAMing on 37.94420609899999 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:13.35, Y:-12.43, Z:11.77 [[ 1.59805749e-01 9.80430571e-01 1.14969636e-01 1.33455826e+01] [-8.31095687e-01 1.96473687e-01 -5.20267286e-01 -1.24348317e+01] [-5.32674460e-01 -1.24090653e-02 8.46229245e-01 1.17728255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.97420609899999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:13.35, Y:-12.46, Z:11.80 [[ 1.59875295e-01 9.80462964e-01 1.14596098e-01 1.33512893e+01] [-8.30945727e-01 1.96337479e-01 -5.20558155e-01 -1.24577223e+01] [-5.32887501e-01 -1.19987499e-02 8.46101023e-01 1.17954226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.004206098999994 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:13.36, Y:-12.48, Z:11.81 [[ 1.62774505e-01 9.80120549e-01 1.13437956e-01 1.33556680e+01] [-8.30758198e-01 1.98171939e-01 -5.20162186e-01 -1.24828887e+01] [-5.32301867e-01 -9.57036933e-03 8.46500520e-01 1.18137016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.03420609899999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:13.37, Y:-12.50, Z:11.84 [[ 0.14404137 0.9824652 0.11838166 13.37058146] [ -0.83324272 0.18494809 -0.52105736 -12.50258706] [ -0.53381518 -0.02358684 0.84527215 11.83855131] [ 0. 0. 0. 1. ]] SLAMing on 38.06420609899999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:13.37, Y:-12.53, Z:11.85 [[ 1.65571864e-01 9.79923342e-01 1.11068453e-01 1.33665636e+01] [-8.33101701e-01 1.99248223e-01 -5.15986144e-01 -1.25305706e+01] [-5.27757059e-01 -7.09852909e-03 8.49365703e-01 1.18548848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.09420609899999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:13.38, Y:-12.55, Z:11.88 [[ 0.14016476 0.98296477 0.11888689 13.38430113] [ -0.83506465 0.18187331 -0.51921973 -12.54736084] [ -0.53199705 -0.02650193 0.84633137 11.88165221] [ 0. 0. 0. 1. ]] SLAMing on 38.12420609899999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:13.37, Y:-12.58, Z:11.90 [[ 1.77294244e-01 9.78160654e-01 1.08482649e-01 1.33708455e+01] [-8.30209807e-01 2.07843775e-01 -5.17254910e-01 -1.25780201e+01] [-5.28505844e-01 1.64295968e-03 8.48928073e-01 1.18980109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.15420609899999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:13.40, Y:-12.59, Z:11.92 [[ 0.13646211 0.98347409 0.11898237 13.39843856] [ -0.83608968 0.17875909 -0.51865136 -12.59377127] [ -0.53134935 -0.02870368 0.84666638 11.92446415] [ 0. 0. 0. 1. ]] SLAMing on 38.184206098999994 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:13.39, Y:-12.62, Z:11.95 [[ 1.60700072e-01 9.80600663e-01 1.12240039e-01 1.33915277e+01] [-8.30853320e-01 1.95783682e-01 -5.20914111e-01 -1.26194756e+01] [-5.32783490e-01 -9.54407430e-03 8.46197768e-01 1.19476010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.21420609899999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:13.40, Y:-12.64, Z:11.97 [[ 1.60460324e-01 9.80646818e-01 1.12179782e-01 1.33970414e+01] [-8.30477428e-01 1.95556122e-01 -5.21598548e-01 -1.26421538e+01] [-5.33441399e-01 -9.46690489e-03 8.45784045e-01 1.19688351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24420609899999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:13.39, Y:-12.67, Z:11.99 [[ 1.78485118e-01 9.78137152e-01 1.06727572e-01 1.33932325e+01] [-8.29160046e-01 2.07919974e-01 -5.18905486e-01 -1.26713113e+01] [-5.29751528e-01 4.12266846e-03 8.48142867e-01 1.19857059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.27420609899999 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:13.42, Y:-12.69, Z:12.01 [[ 0.13372424 0.9839331 0.11829406 13.42196563] [ -0.8360335 0.17609894 -0.51965098 -12.68715861] [ -0.53213326 -0.02940787 0.84614973 12.0114359 ] [ 0. 0. 0. 1. ]] SLAMing on 38.30420609899999 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:13.41, Y:-12.72, Z:12.03 [[ 1.73302979e-01 9.78900099e-01 1.08262056e-01 1.34057246e+01] [-8.28736096e-01 2.04338616e-01 -5.21001165e-01 -1.27164748e+01] [-5.32130211e-01 5.70380248e-04 8.46662337e-01 1.20303102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.33420609899999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:13.42, Y:-12.74, Z:12.05 [[ 1.64002809e-01 9.80259129e-01 1.10431510e-01 1.34166006e+01] [-8.32517122e-01 1.97591193e-01 -5.17564453e-01 -1.27389169e+01] [-5.29167573e-01 -7.05409896e-03 8.48488019e-01 1.20504696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36420609899999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:13.43, Y:-12.76, Z:12.07 [[ 0.15241827 0.98179237 0.11336851 13.42844446] [ -0.83470258 0.18929842 -0.51714381 -12.7609402 ] [ -0.52918832 -0.01580682 0.84835716 12.07160079] [ 0. 0. 0. 1. ]] SLAMing on 38.394206098999994 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:13.44, Y:-12.78, Z:12.10 [[ 0.14435243 0.9826599 0.11636961 13.43820571] [ -0.83540599 0.18405232 -0.51790113 -12.7793382 ] [ -0.53033877 -0.02245558 0.84748837 12.09696948] [ 0. 0. 0. 1. ]] SLAMing on 38.42420609899999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:13.42, Y:-12.81, Z:12.11 [[ 0.19254183 0.97595317 0.10219124 13.4181547 ] [ -0.82725928 0.21744939 -0.51803266 -12.81134998] [ -0.52779704 0.01520431 0.84923443 12.11390751] [ 0. 0. 0. 1. ]] SLAMing on 38.45420609899999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:13.45, Y:-12.83, Z:12.14 [[ 0.13380389 0.98412664 0.1165816 13.45415817] [ -0.83759947 0.17517822 -0.51743571 -12.825988 ] [ -0.52964483 -0.02841377 0.84774349 12.1384823 ] [ 0. 0. 0. 1. ]] SLAMing on 38.48420609899999 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:13.44, Y:-12.85, Z:12.16 [[ 1.63403108e-01 9.80697869e-01 1.07383025e-01 1.34442956e+01] [-8.35562985e-01 1.95442470e-01 -5.13455684e-01 -1.28546725e+01] [-5.24532099e-01 -5.82502646e-03 8.51370746e-01 1.21594707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.51420609899999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:13.44, Y:-12.88, Z:12.18 [[ 1.83630138e-01 9.77796784e-01 1.00962479e-01 1.34382963e+01] [-8.33718678e-01 2.09332793e-01 -5.10972550e-01 -1.28795456e+01] [-5.20762074e-01 9.65565541e-03 8.53647252e-01 1.21752456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54420609899999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:13.47, Y:-12.89, Z:12.20 [[ 0.13506562 0.98430144 0.11361315 13.46869294] [ -0.84263839 0.1744295 -0.50944568 -12.89449016] [ -0.5212656 -0.02692621 0.85296961 12.20023516] [ 0. 0. 0. 1. ]] SLAMing on 38.574206098999994 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:13.44, Y:-12.93, Z:12.22 [[ 0.19246564 0.9763932 0.09804742 13.44283734] [ -0.83397848 0.21540688 -0.50801552 -12.92655713] [ -0.51714299 0.0160061 0.85574934 12.21805641] [ 0. 0. 0. 1. ]] SLAMing on 38.60420609899999 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:13.46, Y:-12.95, Z:12.24 [[ 1.62204275e-01 9.81048321e-01 1.05990405e-01 1.34649264e+01] [-8.41832361e-01 1.93617837e-01 -5.03815849e-01 -1.29466433e+01] [-5.14789326e-01 -7.50506791e-03 8.57283864e-01 1.22406221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.63420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.47, Y:-12.97, Z:12.26 [[ 1.63497655e-01 9.80973838e-01 1.04684505e-01 1.34698302e+01] [-8.43169521e-01 1.94038145e-01 -5.01412363e-01 -1.29704054e+01] [-5.12185197e-01 -6.28703867e-03 8.58852023e-01 1.22624565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.66420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.48, Y:-12.99, Z:12.28 [[ 1.57492531e-01 9.81841879e-01 1.05747938e-01 1.34783462e+01] [-8.44497062e-01 1.89415375e-01 -5.00945633e-01 -1.29924843e+01] [-5.11879687e-01 -1.04086274e-02 8.58994090e-01 1.22831394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.69420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.48, Y:-13.02, Z:12.30 [[ 1.59613723e-01 9.81668397e-01 1.04166295e-01 1.34827313e+01] [-8.44562283e-01 1.90424829e-01 -5.00452730e-01 -1.30163519e+01] [-5.11114478e-01 -8.09580074e-03 8.59474519e-01 1.23049427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.50, Y:-13.03, Z:12.33 [[ 0.13851038 0.9842791 0.10958803 13.49829271] [ -0.84771434 0.17504413 -0.50073941 -13.03330116] [ -0.51205007 -0.02354174 0.85863293 12.33186042] [ 0. 0. 0. 1. ]] SLAMing on 38.754206098999994 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:13.48, Y:-13.06, Z:12.35 [[ 1.83039262e-01 9.78560589e-01 9.44235271e-02 1.34811957e+01] [-8.45346326e-01 2.05695230e-01 -4.93030488e-01 -1.30618748e+01] [-5.01882674e-01 1.04233550e-02 8.64872901e-01 1.23514697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78420609899999 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:13.50, Y:-13.08, Z:12.37 [[ 1.59210969e-01 9.82114777e-01 1.00510860e-01 1.34992211e+01] [-8.50670653e-01 1.88139761e-01 -4.90879690e-01 -1.30824753e+01] [-5.01010286e-01 -7.34820773e-03 8.65410132e-01 1.23729556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.81420609899999 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:13.50, Y:-13.11, Z:12.39 [[ 1.63109947e-01 9.81531730e-01 9.99530280e-02 1.35030115e+01] [-8.49727806e-01 1.91239313e-01 -4.91314747e-01 -1.31059365e+01] [-5.01355962e-01 -4.79454499e-03 8.65227838e-01 1.23928557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.84420609899999 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:13.51, Y:-13.13, Z:12.41 [[ 1.53895703e-01 9.82975460e-01 1.00376086e-01 1.35139304e+01] [-8.52568152e-01 1.83449816e-01 -4.89360513e-01 -1.31284783e+01] [-4.99443350e-01 -1.02669738e-02 8.66285709e-01 1.24141609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.87420609899999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:13.53, Y:-13.15, Z:12.44 [[ 0.13535899 0.98511838 0.10592314 13.52782118] [ -0.8548001 0.17016766 -0.49026499 -13.14654629] [ -0.50099375 -0.02418133 0.86511301 12.43868157] [ 0. 0. 0. 1. ]] SLAMing on 38.90420609899999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:13.51, Y:-13.18, Z:12.46 [[ 1.78624810e-01 9.79524256e-01 9.28730857e-02 1.35107117e+01] [-8.49669308e-01 2.01160862e-01 -4.87438585e-01 -1.31754878e+01] [-4.96140347e-01 8.15721392e-03 8.68204018e-01 1.24571721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.934206098999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.52, Y:-13.20, Z:12.48 [[ 1.62910167e-01 9.81843689e-01 9.71763776e-02 1.35244366e+01] [-8.53968198e-01 1.89648533e-01 -4.84532508e-01 -1.31969827e+01] [-4.94164542e-01 -4.05026448e-03 8.69358959e-01 1.24792922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.54, Y:-13.22, Z:12.50 [[ 1.50999638e-01 9.83657058e-01 9.80708976e-02 1.35358183e+01] [-8.57408675e-01 1.79699242e-01 -4.82243244e-01 -1.32180577e+01] [-4.91985237e-01 -1.12682829e-02 8.70530615e-01 1.25017866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.99420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.55, Y:-13.24, Z:12.53 [[ 0.13869383 0.98517367 0.1009795 13.54725927] [ -0.86003814 0.1703735 -0.48094415 -13.24113161] [ -0.49101775 -0.02014223 0.87091668 12.52702083] [ 0. 0. 0. 1. ]] SLAMing on 39.02420609899999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:13.54, Y:-13.27, Z:12.55 [[ 1.59060174e-01 9.82740030e-01 9.44557807e-02 1.35413604e+01] [-8.56188850e-01 1.84945716e-01 -4.82426923e-01 -1.32653634e+01] [-4.91569440e-01 -4.13707617e-03 8.70828554e-01 1.25511984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.05420609899999 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:13.54, Y:-13.29, Z:12.57 [[ 1.69408869e-01 9.81394745e-01 9.03603348e-02 1.35405909e+01] [-8.55042100e-01 1.91951724e-01 -4.81723513e-01 -1.32904052e+01] [-4.90105746e-01 4.34634512e-03 8.71652148e-01 1.25707806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08420609899999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:13.56, Y:-13.31, Z:12.59 [[ 0.14115903 0.98512761 0.097968 13.56067019] [ -0.86065164 0.1710192 -0.47961566 -13.31016641] [ -0.48923704 -0.01661424 0.8719926 12.59174774] [ 0. 0. 0. 1. ]] SLAMing on 39.11420609899999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:13.57, Y:-13.33, Z:12.62 [[ 0.13836547 0.98558701 0.09733055 13.56616562] [ -0.86150631 0.16825482 -0.47905866 -13.33246664] [ -0.48853033 -0.0175657 0.87237009 12.61588696] [ 0. 0. 0. 1. ]] SLAMing on 39.144206098999994 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:13.55, Y:-13.36, Z:12.64 [[ 1.73721022e-01 9.81080422e-01 8.54529764e-02 1.35518541e+01] [-8.55751290e-01 1.93329425e-01 -4.79909850e-01 -1.33600210e+01] [-4.87350733e-01 1.02439349e-02 8.73146222e-01 1.26354794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.17420609899999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:13.57, Y:-13.38, Z:12.66 [[ 0.13846576 0.98570657 0.09596765 13.57420603] [ -0.86244084 0.16764775 -0.47758771 -13.37677976] [ -0.4868501 -0.01663687 0.87332708 12.65567663] [ 0. 0. 0. 1. ]] SLAMing on 39.20420609899999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:13.57, Y:-13.40, Z:12.68 [[ 1.51283045e-01 9.84201244e-01 9.19856078e-02 1.35728786e+01] [-8.60217756e-01 1.76923688e-01 -4.78250374e-01 -1.34006851e+01] [-4.86969046e-01 -6.77648003e-03 8.73392940e-01 1.26783419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.23420609899999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:13.58, Y:-13.42, Z:12.70 [[ 1.43429493e-01 9.85251437e-01 9.33144486e-02 1.35817703e+01] [-8.62002018e-01 1.70693084e-01 -4.77301154e-01 -1.34225540e+01] [-4.86189779e-01 -1.19781806e-02 8.73771150e-01 1.27002283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26420609899999 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:13.58, Y:-13.45, Z:12.72 [[ 1.48600428e-01 9.84609466e-01 9.19897399e-02 1.35839166e+01] [-8.61246353e-01 1.74571579e-01 -4.77262488e-01 -1.34463811e+01] [-4.85975958e-01 -8.30441798e-03 8.73932724e-01 1.27225716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.29420609899999 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:13.59, Y:-13.47, Z:12.74 [[ 1.51353304e-01 9.84295822e-01 9.08510490e-02 1.35870103e+01] [-8.61188746e-01 1.76421722e-01 -4.76685767e-01 -1.34697187e+01] [-4.85227907e-01 -6.09193532e-03 8.74366494e-01 1.27429424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.324206098999994 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:13.60, Y:-13.49, Z:12.76 [[ 0.13709578 0.98628456 0.0919104 13.59871382] [ -0.86362249 0.16445551 -0.4765612 -13.49206016] [ -0.48514013 -0.01404136 0.87432368 12.76434705] [ 0. 0. 0. 1. ]] SLAMing on 39.35420609899999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:13.60, Y:-13.52, Z:12.79 [[ 1.41130340e-01 9.85886188e-01 9.00591609e-02 1.36011569e+01] [-8.64120642e-01 1.67066856e-01 -4.74746439e-01 -1.35157614e+01] [-4.83091858e-01 -1.08208537e-02 8.75502807e-01 1.27853779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.38420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.61, Y:-13.54, Z:12.80 [[ 0.12796003 0.98729035 0.09425499 13.61419161] [ -0.86557213 0.15756539 -0.47535043 -13.53647019] [ -0.48416021 -0.02075864 0.87473308 12.80462272] [ 0. 0. 0. 1. ]] SLAMing on 39.41420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.61, Y:-13.57, Z:12.82 [[ 1.39454494e-01 9.86087280e-01 9.04672313e-02 1.36114605e+01] [-8.59609251e-01 1.65904444e-01 -4.83267681e-01 -1.35662466e+01] [-4.91553029e-01 -1.03726191e-02 8.70785869e-01 1.28203407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.44420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.62, Y:-13.59, Z:12.84 [[ 1.36913581e-01 9.86356943e-01 9.14037878e-02 1.36169523e+01] [-8.59082061e-01 1.64171853e-01 -4.84794404e-01 -1.35896131e+01] [-4.93186256e-01 -1.21484163e-02 8.69838912e-01 1.28396322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.47420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.62, Y:-13.61, Z:12.86 [[ 1.41197222e-01 9.85948218e-01 8.92718111e-02 1.36189472e+01] [-8.59131762e-01 1.66840610e-01 -4.83794198e-01 -1.36138749e+01] [-4.91890191e-01 -8.38585171e-03 8.70616860e-01 1.28607912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.504206098999994 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:13.64, Y:-13.63, Z:12.89 [[ 0.11839639 0.9884578 0.0945171 13.63572362] [ -0.8623155 0.14954707 -0.48378471 -13.63167513] [ -0.49233553 -0.02422519 0.87006831 12.88550216] [ 0. 0. 0. 1. ]] SLAMing on 39.53420609899999 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:13.63, Y:-13.66, Z:12.91 [[ 1.42710470e-01 9.85880863e-01 8.75936369e-02 1.36275516e+01] [-8.58622402e-01 1.67338472e-01 -4.84525960e-01 -1.36561248e+01] [-4.92342657e-01 -6.06293163e-03 8.70380347e-01 1.29089133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56420609899999 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:13.62, Y:-13.68, Z:12.93 [[ 1.61412261e-01 9.83256166e-01 8.45777365e-02 1.36215590e+01] [-8.53256464e-01 1.82105168e-01 -4.88662578e-01 -1.36791451e+01] [-4.95882536e-01 6.70963122e-03 8.68363686e-01 1.29329591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.59420609899999 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:13.63, Y:-13.70, Z:12.95 [[ 1.55146976e-01 9.84057902e-01 8.69451631e-02 1.36300508e+01] [-8.54868389e-01 1.77843670e-01 -4.87413240e-01 -1.37014574e+01] [-4.95105497e-01 1.29401878e-03 8.68831901e-01 1.29545481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.62420609899999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:13.64, Y:-13.72, Z:12.98 [[ 1.48581416e-01 9.85029343e-01 8.74114146e-02 1.36381683e+01] [-8.56590811e-01 1.72366958e-01 -4.86355646e-01 -1.37232378e+01] [-4.94141422e-01 -2.61240380e-03 8.69377611e-01 1.29772896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.65420609899999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:13.65, Y:-13.74, Z:13.00 [[ 0.13287093 0.98689487 0.09156322 13.65107856] [ -0.85840497 0.16076706 -0.4871292 -13.7440696 ] [ -0.49546566 -0.01387302 0.86851674 12.99998761] [ 0. 0. 0. 1. ]] SLAMing on 39.684206098999994 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:13.64, Y:-13.77, Z:13.02 [[ 1.57940916e-01 9.83784247e-01 8.49895365e-02 1.36431442e+01] [-8.55139998e-01 1.79308055e-01 -4.86399224e-01 -1.37695703e+01] [-4.93751203e-01 4.14438704e-03 8.69593338e-01 1.30211090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.71420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.66, Y:-13.79, Z:13.05 [[ 1.42726397e-01 9.85722640e-01 8.93311374e-02 1.36562138e+01] [-8.56009619e-01 1.68243779e-01 -4.88816493e-01 -1.37898305e+01] [-4.96866892e-01 -6.70129596e-03 8.67800890e-01 1.30470656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74420609899999 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:13.66, Y:-13.81, Z:13.07 [[ 1.50013868e-01 9.84884507e-01 8.65929996e-02 1.36562603e+01] [-8.54131675e-01 1.73211858e-01 -4.90363879e-01 -1.38125027e+01] [-4.97950722e-01 -4.00441715e-04 8.67205234e-01 1.30701328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.77420609899999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:13.66, Y:-13.84, Z:13.09 [[ 1.52937597e-01 9.84536259e-01 8.54309427e-02 1.36583174e+01] [-8.54353662e-01 1.75171245e-01 -4.89279936e-01 -1.38360483e+01] [-4.96678883e-01 1.84105897e-03 8.67932427e-01 1.30929978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.80420609899999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:13.66, Y:-13.86, Z:13.12 [[ 1.56585736e-01 9.84159245e-01 8.31353627e-02 1.36613039e+01] [-8.52526852e-01 1.77180925e-01 -4.91736603e-01 -1.38578516e+01] [-4.98677124e-01 6.12380903e-03 8.66766188e-01 1.31170458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.83420609899999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:13.67, Y:-13.88, Z:13.14 [[ 1.44385285e-01 9.85769064e-01 8.60943790e-02 1.36716041e+01] [-8.54278560e-01 1.68086189e-01 -4.91889394e-01 -1.38772034e+01] [-4.99360623e-01 -2.52699184e-03 8.66390548e-01 1.31396261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86420609899999 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:13.67, Y:-13.90, Z:13.16 [[ 1.46588558e-01 9.85550437e-01 8.48653667e-02 1.36744941e+01] [-8.53216332e-01 1.69382190e-01 -4.93286493e-01 -1.39001630e+01] [-5.00533400e-01 -9.83609939e-05 8.65717220e-01 1.31639062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.894206098999994 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:13.68, Y:-13.92, Z:13.19 [[ 1.41987729e-01 9.86176500e-01 8.54130828e-02 1.36813436e+01] [-8.54832268e-01 1.65667508e-01 -4.91747975e-01 -1.39215214e+01] [-4.99100470e-01 -3.19168099e-03 8.66538247e-01 1.31868043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92420609899999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:13.68, Y:-13.95, Z:13.21 [[ 1.42977553e-01 9.86095018e-01 8.46996732e-02 1.36842400e+01] [-8.53758708e-01 1.66173131e-01 -4.93439520e-01 -1.39450481e+01] [-5.00653062e-01 -1.76230840e-03 8.65646236e-01 1.32111370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.95420609899999 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:13.69, Y:-13.97, Z:13.23 [[ 1.41854983e-01 9.86304274e-01 8.41489332e-02 1.36893173e+01] [-8.54996286e-01 1.64921379e-01 -4.91713626e-01 -1.39681708e+01] [-4.98857209e-01 -2.19499708e-03 8.66681410e-01 1.32330737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.98420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.70, Y:-13.99, Z:13.26 [[ 1.33245402e-01 9.87277350e-01 8.67703685e-02 1.36970733e+01] [-8.55832792e-01 1.58771296e-01 -4.92282346e-01 -1.39889831e+01] [-4.99795854e-01 -8.66656776e-03 8.66099876e-01 1.32567409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.01420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.69, Y:-14.01, Z:13.28 [[ 1.44244510e-01 9.85950652e-01 8.42308287e-02 1.36949185e+01] [-8.50846195e-01 1.67036749e-01 -4.98156076e-01 -1.40113234e+01] [-5.05226952e-01 1.88798820e-04 8.62986495e-01 1.32821177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04420609899999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:13.69, Y:-14.03, Z:13.30 [[ 1.54119339e-01 9.84616212e-01 8.23294828e-02 1.36949165e+01] [-8.50209006e-01 1.74608340e-01 -4.96645320e-01 -1.40349214e+01] [-5.03380448e-01 6.54538086e-03 8.64040093e-01 1.33035202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.074206098999994 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:13.71, Y:-14.05, Z:13.33 [[ 1.32406038e-01 9.87347735e-01 8.72530304e-02 1.37103236e+01] [-8.52158027e-01 1.58351812e-01 -4.98749837e-01 -1.40537129e+01] [-5.06256198e-01 -8.31588047e-03 8.62343034e-01 1.33285661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10420609899999 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:13.71, Y:-14.08, Z:13.35 [[ 1.46980028e-01 9.85694933e-01 8.24764787e-02 1.37071640e+01] [-8.50386370e-01 1.68510342e-01 -4.98444868e-01 -1.40780183e+01] [-5.05212721e-01 3.12456755e-03 8.62989191e-01 1.33488162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.13420609899999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:13.72, Y:-14.10, Z:13.37 [[ 1.37970941e-01 9.86983990e-01 8.26233807e-02 1.37159544e+01] [-8.53267046e-01 1.60805377e-01 -4.96061468e-01 -1.41008709e+01] [-5.02891010e-01 -2.05774035e-03 8.64347382e-01 1.33706105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.16420609899999 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:13.73, Y:-14.12, Z:13.39 [[ 0.11811493 0.989198 0.08681118 13.7305502 ] [ -0.85638588 0.14572759 -0.49534503 -14.12043433] [ -0.50264509 -0.01583622 0.8643478 13.39331162] [ 0. 0. 0. 1. ]] SLAMing on 40.19420609899999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:13.74, Y:-14.14, Z:13.42 [[ 0.11482109 0.98955432 0.08716864 13.73529928] [ -0.85664257 0.14306259 -0.49567793 -14.14000973] [ -0.5029708 -0.01775809 0.86412095 13.41917488] [ 0. 0. 0. 1. ]] SLAMing on 40.22420609899999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:13.72, Y:-14.17, Z:13.44 [[ 1.45603396e-01 9.86183153e-01 7.90091058e-02 1.37233957e+01] [-8.52802439e-01 1.65590934e-01 -4.95285415e-01 -1.41658629e+01] [-5.01525324e-01 4.73608045e-03 8.65130001e-01 1.34384019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.254206098999994 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:13.73, Y:-14.19, Z:13.46 [[ 1.47832787e-01 9.85860781e-01 7.88922569e-02 1.37262158e+01] [-8.51075322e-01 1.67443343e-01 -4.97627896e-01 -1.41909214e+01] [-5.03801809e-01 6.42246593e-03 8.63795398e-01 1.34613051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28420609899999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:13.75, Y:-14.21, Z:13.48 [[ 0.11588057 0.98953048 0.08602978 13.74697459] [ -0.85721496 0.14338554 -0.49459387 -14.21136922] [ -0.50175114 -0.01643219 0.86485593 13.4832264 ] [ 0. 0. 0. 1. ]] SLAMing on 40.31420609899999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:13.75, Y:-14.23, Z:13.50 [[ 0.10963076 0.99018856 0.08664706 13.75439928] [ -0.86077694 0.13816904 -0.48986975 -14.23442312] [ -0.49703536 -0.020879 0.86747906 13.50424593] [ 0. 0. 0. 1. ]] SLAMing on 40.34420609899999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:13.75, Y:-14.26, Z:13.52 [[ 1.25584958e-01 9.88712130e-01 8.17113406e-02 1.37498956e+01] [-8.58220348e-01 1.49588381e-01 -4.91000154e-01 -1.42566015e+01] [-4.97680875e-01 -8.46410159e-03 8.67318918e-01 1.35247522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.37420609899999 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:13.76, Y:-14.28, Z:13.54 [[ 0.1130994 0.99010404 0.08308136 13.76129645] [ -0.86578817 0.1392311 -0.48065116 -14.2762675 ] [ -0.48746217 -0.0175695 0.87296732 13.53998988] [ 0. 0. 0. 1. ]] SLAMing on 40.40420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.76, Y:-14.30, Z:13.56 [[ 1.30538139e-01 9.88317549e-01 7.86652219e-02 1.37559519e+01] [-8.64012150e-01 1.52315671e-01 -4.79878048e-01 -1.42998216e+01] [-4.86253843e-01 -5.32532024e-03 8.73801374e-01 1.35619806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.434206098999994 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:13.75, Y:-14.32, Z:13.58 [[ 1.42789519e-01 9.86873527e-01 7.54439854e-02 1.37523210e+01] [-8.62134341e-01 1.61456344e-01 -4.80266828e-01 -1.43220817e+01] [-4.86143529e-01 3.53421887e-03 8.73871832e-01 1.35844025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46420609899999 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:13.77, Y:-14.34, Z:13.61 [[ 1.26148125e-01 9.88902649e-01 7.84742144e-02 1.37659264e+01] [-8.65418170e-01 1.48373448e-01 -4.78577800e-01 -1.43431323e+01] [-4.84910344e-01 -7.54131897e-03 8.74531353e-01 1.36074716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.49420609899999 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:13.76, Y:-14.37, Z:13.63 [[ 1.50848961e-01 9.85910991e-01 7.22780006e-02 1.37563448e+01] [-8.59538841e-01 1.66925611e-01 -4.83041220e-01 -1.43696902e+01] [-4.88300698e-01 1.07405175e-02 8.72609346e-01 1.36319962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52420609899999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:13.78, Y:-14.39, Z:13.65 [[ 0.11287942 0.99040349 0.07974441 13.78080579] [ -0.86716594 0.13737694 -0.47869699 -14.38986626] [ -0.48505821 -0.01511659 0.8743512 13.65235136] [ 0. 0. 0. 1. ]] SLAMing on 40.55420609899999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:13.79, Y:-14.41, Z:13.67 [[ 0.10528141 0.99117184 0.08058671 13.78786836] [ -0.87192502 0.13097433 -0.47179709 -14.40886454] [ -0.47818678 -0.0205941 0.87801668 13.67041703] [ 0. 0. 0. 1. ]] SLAMing on 40.58420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.79, Y:-14.43, Z:13.70 [[ 0.10081127 0.99175169 0.07915594 13.79429503] [ -0.87290867 0.12634267 -0.4712409 -14.43088061] [ -0.47735474 -0.02158951 0.87844542 13.69900803] [ 0. 0. 0. 1. ]] SLAMing on 40.61420609899999 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:13.79, Y:-14.46, Z:13.72 [[ 1.25565232e-01 9.89542956e-01 7.09796457e-02 1.37854358e+01] [-8.70867637e-01 1.44211050e-01 -4.69885871e-01 -1.44552830e+01] [-4.75208303e-01 -2.81254809e-03 8.79868830e-01 1.37215531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.79, Y:-14.48, Z:13.75 [[ 1.26012472e-01 9.89515779e-01 7.05647241e-02 1.37886828e+01] [-8.70354247e-01 1.44409639e-01 -4.70775256e-01 -1.44772548e+01] [-4.76029770e-01 -2.09275339e-03 8.79426676e-01 1.37466740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.67420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.79, Y:-14.50, Z:13.77 [[ 1.25151990e-01 9.89631691e-01 7.04705321e-02 1.37927160e+01] [-8.70479276e-01 1.43607959e-01 -4.70789319e-01 -1.45000021e+01] [-4.76028160e-01 -2.42291761e-03 8.79426700e-01 1.37709552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70420609899999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:13.80, Y:-14.52, Z:13.79 [[ 1.25568988e-01 9.89608388e-01 7.00547443e-02 1.37968797e+01] [-8.69721285e-01 1.43779485e-01 -4.72135941e-01 -1.45222649e+01] [-4.77302123e-01 -1.64246980e-03 8.78737723e-01 1.37949103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.73420609899999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:13.80, Y:-14.55, Z:13.82 [[ 1.25454690e-01 9.89677614e-01 6.92772720e-02 1.38013453e+01] [-8.70760466e-01 1.43305585e-01 -4.70361266e-01 -1.45457078e+01] [-4.75433836e-01 -1.31488281e-03 8.79750498e-01 1.38177681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.76420609899999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:13.81, Y:-14.57, Z:13.84 [[ 1.22561546e-01 9.90067274e-01 6.88873038e-02 1.38067353e+01] [-8.71616448e-01 1.40572405e-01 -4.69600006e-01 -1.45679364e+01] [-4.74619252e-01 -2.48840429e-03 8.80187692e-01 1.38416545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.79420609899999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:13.81, Y:-14.59, Z:13.87 [[ 1.25982512e-01 9.89652676e-01 6.86730438e-02 1.38079289e+01] [-8.69839639e-01 1.43483475e-01 -4.72007940e-01 -1.45903075e+01] [-4.76977368e-01 -2.69789768e-04 8.78915535e-01 1.38663799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.824206098999994 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:13.80, Y:-14.61, Z:13.89 [[ 1.38925464e-01 9.88047084e-01 6.68032570e-02 1.38034192e+01] [-8.69677907e-01 1.53990789e-01 -4.68985261e-01 -1.46145909e+01] [-4.73666606e-01 7.05667831e-03 8.80675962e-01 1.38850670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.85420609899999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:13.83, Y:-14.63, Z:13.91 [[ 0.10050768 0.99217365 0.07409223 13.82825331] [ -0.87557845 0.12357083 -0.46700388 -14.63326267] [ -0.47250458 -0.01793608 0.88114569 13.91021539] [ 0. 0. 0. 1. ]] SLAMing on 40.88420609899999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:13.82, Y:-14.66, Z:13.93 [[ 1.28364067e-01 9.89467656e-01 6.69060818e-02 1.38175098e+01] [-8.72470155e-01 1.44745948e-01 -4.66738085e-01 -1.46576511e+01] [-4.71506623e-01 1.53883904e-03 8.81861178e-01 1.39337799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.91420609899999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:13.82, Y:-14.68, Z:13.96 [[ 1.26458429e-01 9.89742012e-01 6.64756772e-02 1.38221979e+01] [-8.71946773e-01 1.42860670e-01 -4.68294409e-01 -1.46798757e+01] [-4.72987410e-01 1.25652293e-03 8.81068290e-01 1.39583177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.94420609899999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:13.83, Y:-14.70, Z:13.98 [[ 1.18666102e-01 9.90715384e-01 6.63429262e-02 1.38294422e+01] [-8.73217028e-01 1.35931163e-01 -4.67990108e-01 -1.47014024e+01] [-4.72663071e-01 -2.39721085e-03 8.81239964e-01 1.39822253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.97420609899999 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:13.83, Y:-14.72, Z:14.01 [[ 1.19639370e-01 9.90643424e-01 6.56660256e-02 1.38322078e+01] [-8.73367624e-01 1.36468346e-01 -4.67552547e-01 -1.47235719e+01] [-4.72139191e-01 -1.41288858e-03 8.81522880e-01 1.40059017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.004206098999994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:13.83, Y:-14.75, Z:14.03 [[ 1.22225509e-01 9.90342992e-01 6.54345733e-02 1.38349950e+01] [-8.73484772e-01 1.38638903e-01 -4.66694341e-01 -1.47458908e+01] [-4.71259248e-01 -1.14150181e-04 8.81994733e-01 1.40300282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.03420609899999 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:13.84, Y:-14.77, Z:14.05 [[ 1.23514193e-01 9.90228645e-01 6.47416061e-02 1.38379594e+01] [-8.73581645e-01 1.39449497e-01 -4.66271323e-01 -1.47689594e+01] [-4.70743405e-01 1.03404721e-03 8.82269561e-01 1.40541184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.06420609899999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:13.84, Y:-14.79, Z:14.08 [[ 1.26831203e-01 9.89767144e-01 6.53823116e-02 1.38384593e+01] [-8.68583160e-01 1.42651468e-01 -4.74567016e-01 -1.47874532e+01] [-4.79037723e-01 3.39993083e-03 8.77787731e-01 1.40815347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.09420609899999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:13.84, Y:-14.81, Z:14.11 [[ 1.24609578e-01 9.90075525e-01 6.49839020e-02 1.38432042e+01] [-8.69161260e-01 1.40512226e-01 -4.74146621e-01 -1.48093346e+01] [-4.78571998e-01 2.60172047e-03 8.78044460e-01 1.41052783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.12420609899999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:13.85, Y:-14.84, Z:14.13 [[ 1.23988876e-01 9.90214568e-01 6.40458283e-02 1.38476565e+01] [-8.72513370e-01 1.39536286e-01 -4.68241437e-01 -1.48356479e+01] [-4.72596209e-01 2.17588803e-03 8.81276397e-01 1.41260379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.15420609899999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:13.86, Y:-14.85, Z:14.15 [[ 1.08284337e-01 9.92096517e-01 6.33956170e-02 1.38589666e+01] [-8.75001509e-01 1.25383819e-01 -4.67601601e-01 -1.48540888e+01] [-4.71854704e-01 -4.83733144e-03 8.81663053e-01 1.41531603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.184206098999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.86, Y:-14.87, Z:14.18 [[ 1.05725358e-01 9.92416547e-01 6.27020451e-02 1.38634978e+01] [-8.76643657e-01 1.22784184e-01 -4.65209568e-01 -1.48744350e+01] [-4.69380493e-01 -5.78290215e-03 8.82977073e-01 1.41785964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.21420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.87, Y:-14.90, Z:14.20 [[ 1.06926034e-01 9.92308734e-01 6.23714725e-02 1.38660284e+01] [-8.77487319e-01 1.23679077e-01 -4.63378345e-01 -1.48969422e+01] [-4.67528425e-01 -5.18296768e-03 8.83962843e-01 1.42024747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.24420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.87, Y:-14.92, Z:14.23 [[ 1.09843010e-01 9.92024915e-01 6.18148955e-02 1.38684604e+01] [-8.77411196e-01 1.25996307e-01 -4.62897962e-01 -1.49193829e+01] [-4.66994760e-01 -3.39097602e-03 8.84253581e-01 1.42260968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.27420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.87, Y:-14.95, Z:14.25 [[ 1.08009499e-01 9.92303137e-01 6.05675834e-02 1.38729352e+01] [-8.81989365e-01 1.23757634e-01 -4.54729378e-01 -1.49460046e+01] [-4.58725090e-01 -4.30487225e-03 8.88567814e-01 1.42466966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.30420609899999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:13.87, Y:-14.97, Z:14.27 [[ 1.14768998e-01 9.91694074e-01 5.80598041e-02 1.38738341e+01] [-8.80617076e-01 1.28613365e-01 -4.56039655e-01 -1.49668302e+01] [-4.59719090e-01 1.21075924e-03 8.88063563e-01 1.42656617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.33420609899999 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:13.89, Y:-14.99, Z:14.29 [[ 0.09035984 0.99387314 0.0636497 13.88932819] [ -0.88401877 0.10947621 -0.45445107 -14.98826562] [ -0.45863484 -0.01520341 0.88849476 14.2903586 ] [ 0. 0. 0. 1. ]] SLAMing on 41.36420609899999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:13.89, Y:-15.01, Z:14.31 [[ 9.59640026e-02 9.93435259e-01 6.22679366e-02 1.38904341e+01] [-8.85076610e-01 1.13785406e-01 -4.51322807e-01 -1.50116409e+01] [-4.55445172e-01 -1.18011512e-02 8.90185614e-01 1.43123294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.39420609899999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:13.90, Y:-15.03, Z:14.34 [[ 0.08794543 0.9941223 0.06313842 13.89733889] [ -0.88556879 0.1070498 -0.45200471 -15.0324858 ] [ -0.45610692 -0.01616167 0.88977822 14.33779614] [ 0. 0. 0. 1. ]] SLAMing on 41.42420609899999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:13.89, Y:-15.05, Z:14.36 [[ 1.06345713e-01 9.92704895e-01 5.68118077e-02 1.38910871e+01] [-8.83291804e-01 1.20552852e-01 -4.53059156e-01 -1.50549555e+01] [-4.56602867e-01 -2.00050508e-03 8.89668376e-01 1.43587095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.45420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.90, Y:-15.08, Z:14.38 [[ 9.20390068e-02 9.93860949e-01 6.13941058e-02 1.39022962e+01] [-8.86228225e-01 1.09871317e-01 -4.50030918e-01 -1.50764461e+01] [-4.54013607e-01 -1.29887906e-02 8.90900071e-01 1.43826372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.48420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.90, Y:-15.10, Z:14.41 [[ 1.03260398e-01 9.93019178e-01 5.70105386e-02 1.38989541e+01] [-8.84232043e-01 1.17893546e-01 -4.51923452e-01 -1.50981369e+01] [-4.55489830e-01 -3.74474939e-03 8.90233111e-01 1.44074994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.51420609899999 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:13.90, Y:-15.12, Z:14.43 [[ 9.90646109e-02 9.93493552e-01 5.61851014e-02 1.39042648e+01] [-8.86183336e-01 1.13765206e-01 -4.49150947e-01 -1.51212288e+01] [-4.52620480e-01 -5.29533671e-03 8.91687535e-01 1.44295177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.91, Y:-15.14, Z:14.45 [[ 9.77474047e-02 9.93642988e-01 5.58485134e-02 1.39076827e+01] [-8.85654641e-01 1.12446349e-01 -4.50523780e-01 -1.51423771e+01] [-4.53939757e-01 -5.42496476e-03 8.91015862e-01 1.44547297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.574206098999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.91, Y:-15.16, Z:14.48 [[ 9.60303437e-02 9.93837194e-01 5.53697191e-02 1.39110658e+01] [-8.85775293e-01 1.10699716e-01 -4.50719096e-01 -1.51645526e+01] [-4.54070814e-01 -5.76241938e-03 8.90946963e-01 1.44784290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.60420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.91, Y:-15.19, Z:14.50 [[ 9.70290349e-02 9.93764060e-01 5.49395985e-02 1.39136603e+01] [-8.85517092e-01 1.11396294e-01 -4.51054703e-01 -1.51867491e+01] [-4.54362021e-01 -4.88455097e-03 8.90803736e-01 1.45026610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.63420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.92, Y:-15.21, Z:14.53 [[ 9.83447528e-02 9.93645340e-01 5.47471288e-02 1.39157716e+01] [-8.85767926e-01 1.12477644e-01 -4.50293195e-01 -1.52090701e+01] [-4.53589563e-01 -4.20927778e-03 8.91200758e-01 1.45269102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.66420609899999 meters Centerline goodness : 0.999965 Centerline is valid? [True, True] Translation: X:13.92, Y:-15.23, Z:14.55 [[ 9.63392491e-02 9.93879155e-01 5.40645321e-02 1.39208554e+01] [-8.86254285e-01 1.10377911e-01 -4.49855598e-01 -1.52311456e+01] [-4.53069632e-01 -4.57617265e-03 8.91463385e-01 1.45511385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.69420609899999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:13.92, Y:-15.25, Z:14.58 [[ 9.61329997e-02 9.93924233e-01 5.36009776e-02 1.39242623e+01] [-8.86183808e-01 1.09985047e-01 -4.50090600e-01 -1.52527124e+01] [-4.53251261e-01 -4.23175891e-03 8.91372754e-01 1.45763729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72420609899999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:13.93, Y:-15.28, Z:14.60 [[ 9.58805560e-02 9.94001515e-01 5.26109079e-02 1.39275140e+01] [-8.85923403e-01 1.09313768e-01 -4.50766263e-01 -1.52764591e+01] [-4.53813445e-01 -3.38951463e-03 8.91090269e-01 1.45974707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.754206098999994 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:13.94, Y:-15.30, Z:14.62 [[ 0.06971808 0.99585821 0.05835935 13.94360127] [ -0.88820389 0.08860073 -0.45082565 -15.29665107] [ -0.45412911 -0.0204043 0.89070221 14.62054649] [ 0. 0. 0. 1. ]] SLAMing on 41.78420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.94, Y:-15.32, Z:14.65 [[ 8.05991896e-02 9.95270699e-01 5.42218270e-02 1.39403148e+01] [-8.87918744e-01 9.64095823e-02 -4.49783832e-01 -1.53192228e+01] [-4.52884173e-01 -1.18923642e-02 8.91490044e-01 1.46453344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.81420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.94, Y:-15.34, Z:14.67 [[ 8.64073260e-02 9.94906580e-01 5.19102256e-02 1.39402103e+01] [-8.87711590e-01 1.00539529e-01 -4.49288254e-01 -1.53425287e+01] [-4.52218870e-01 -7.25951230e-03 8.91877454e-01 1.46695036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84420609899999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:13.94, Y:-15.36, Z:14.69 [[ 8.65020681e-02 9.94921192e-01 5.14705143e-02 1.39432290e+01] [-8.87161405e-01 1.00433560e-01 -4.50397315e-01 -1.53640950e+01] [-4.53279201e-01 -6.70235452e-03 8.91343393e-01 1.46940600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.87420609899999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:13.95, Y:-15.39, Z:14.72 [[ 8.95446659e-02 9.94676143e-01 5.10012031e-02 1.39464652e+01] [-8.86794993e-01 1.02934578e-01 -4.50554229e-01 -1.53869337e+01] [-4.53405330e-01 -4.88288372e-03 8.91291066e-01 1.47180000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90420609899999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:13.95, Y:-15.41, Z:14.74 [[ 1.03414877e-01 9.93329284e-01 5.10127042e-02 1.39484705e+01] [-8.82971875e-01 1.15294705e-01 -4.55047029e-01 -1.54138200e+01] [-4.57893035e-01 2.01584936e-03 8.89005008e-01 1.47382430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.934206098999994 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:13.95, Y:-15.44, Z:14.76 [[ 1.03770521e-01 9.93292661e-01 5.10036203e-02 1.39516870e+01] [-8.80884428e-01 1.15595796e-01 -4.58999168e-01 -1.54384742e+01] [-4.61816309e-01 2.70228799e-03 8.86971474e-01 1.47608710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.96, Y:-15.46, Z:14.78 [[ 1.00312224e-01 9.93659640e-01 5.07737851e-02 1.39556318e+01] [-8.80121051e-01 1.12418940e-01 -4.61247133e-01 -1.54636120e+01] [-4.64030595e-01 1.58164870e-03 8.85817761e-01 1.47819508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.99420609899999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:13.96, Y:-15.49, Z:14.81 [[ 9.83657052e-02 9.93875835e-01 5.03489161e-02 1.39593273e+01] [-8.80187778e-01 1.10497251e-01 -4.61584047e-01 -1.54852560e+01] [-4.64320647e-01 1.08753972e-03 8.85666503e-01 1.48060103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02420609899999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:13.94, Y:-15.51, Z:14.82 [[ 0.14010976 0.98938147 0.0386467 13.94089723] [ -0.87709497 0.14213014 -0.45880654 -15.51374185] [ -0.45942755 0.03038645 0.88769533 14.82310356] [ 0. 0. 0. 1. ]] SLAMing on 42.05420609899999 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:13.96, Y:-15.53, Z:14.85 [[ 1.02208585e-01 9.93451931e-01 5.10555189e-02 1.39612145e+01] [-8.80175812e-01 1.14230649e-01 -4.60697187e-01 -1.55313416e+01] [-4.63512615e-01 2.14937492e-03 8.86087713e-01 1.48487814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08420609899999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:13.94, Y:-15.56, Z:14.87 [[ 0.13812431 0.98952269 0.0420301 13.9442968 ] [ -0.87570668 0.14184105 -0.46153973 -15.55561601] [ -0.46266563 0.02694382 0.88612333 14.8731717 ] [ 0. 0. 0. 1. ]] SLAMing on 42.11420609899999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:13.95, Y:-15.58, Z:14.90 [[ 0.12178932 0.99151476 0.04545164 13.95408776] [ -0.87901216 0.12901191 -0.45901366 -15.57593672] [ -0.46098262 0.01595042 0.8872658 14.89659457] [ 0. 0. 0. 1. ]] SLAMing on 42.14420609899999 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:13.94, Y:-15.60, Z:14.92 [[ 0.15912775 0.98655695 0.03719858 13.93545037] [ -0.87350042 0.15825117 -0.46038417 -15.60092344] [ -0.46008193 0.04076693 0.88694007 14.91999054] [ 0. 0. 0. 1. ]] SLAMing on 42.17420609899999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:13.89, Y:-15.64, Z:14.93 [[ 2.56898790e-01 9.66370260e-01 1.14687816e-02 1.38878522e+01] [-8.59539011e-01 2.33891766e-01 -4.54408770e-01 -1.56395838e+01] [-4.41809575e-01 1.06879198e-01 8.90719449e-01 1.49343895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20420609899999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:13.81, Y:-15.69, Z:14.95 [[ 0.40351059 0.91467355 -0.02348409 13.81133153] [ -0.81678575 0.34852249 -0.45977506 -15.69334514] [ -0.41235935 0.20470558 0.88772484 14.94677792] [ 0. 0. 0. 1. ]] SLAMing on 42.23420609899999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:14.00, Y:-15.66, Z:14.99 [[ 0.03611382 0.99656136 0.07457378 14.0035774 ] [ -0.88637374 0.06640713 -0.45818303 -15.65683963] [ -0.46155973 -0.0495535 0.88572403 14.98995552] [ 0. 0. 0. 1. ]] SLAMing on 42.26420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:13.97, Y:-15.68, Z:15.01 [[ 1.04380995e-01 9.92807831e-01 5.86278007e-02 1.39695066e+01] [-8.80120089e-01 1.19663398e-01 -4.59422790e-01 -1.56792241e+01] [-4.63134145e-01 -3.64449717e-03 8.86280701e-01 1.50143936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.29420609899999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:13.96, Y:-15.70, Z:15.04 [[ 1.30638136e-01 9.90082269e-01 5.16795642e-02 1.39590458e+01] [-8.76586743e-01 1.39700686e-01 -4.60520793e-01 -1.57022906e+01] [-4.63173142e-01 1.48599570e-02 8.86143229e-01 1.50391280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32420609899999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:13.96, Y:-15.72, Z:15.06 [[ 0.13441387 0.98957606 0.05169262 13.95924986] [ -0.87547955 0.14302904 -0.461604 -15.72491899] [ -0.46418582 0.01679015 0.88557869 15.06359033] [ 0. 0. 0. 1. ]] SLAMing on 42.35420609899999 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:13.96, Y:-15.75, Z:15.09 [[ 0.13458237 0.98977733 0.04720612 13.96345408] [ -0.87563258 0.14109201 -0.46190976 -15.74628037] [ -0.46384822 0.02082969 0.88566978 15.08570634] [ 0. 0. 0. 1. ]] SLAMing on 42.38420609899999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:13.97, Y:-15.77, Z:15.11 [[ 1.17813550e-01 9.91484628e-01 5.54815255e-02 1.39731129e+01] [-8.77041484e-01 1.30093431e-01 -4.62465062e-01 -1.57650561e+01] [-4.65744782e-01 5.82505100e-03 8.84899919e-01 1.51108369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.41420609899999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:13.96, Y:-15.79, Z:15.13 [[ 0.13614432 0.98934197 0.05164489 13.96381459] [ -0.87333838 0.14446492 -0.46519884 -15.78975403] [ -0.46770161 0.01823071 0.88369839 15.13364299] [ 0. 0. 0. 1. ]] SLAMing on 42.44420609899999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:13.98, Y:-15.81, Z:15.16 [[ 1.19932694e-01 9.91372010e-01 5.28931719e-02 1.39765015e+01] [-8.76825434e-01 1.30761192e-01 -4.62686361e-01 -1.58108124e+01] [-4.65610682e-01 9.11314327e-03 8.84942735e-01 1.51569352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.47420609899999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:13.96, Y:-15.84, Z:15.18 [[ 0.15100682 0.98746298 0.04597603 13.9625385 ] [ -0.8722162 0.15498269 -0.46391731 -15.83572972] [ -0.46522666 0.02995364 0.88468465 15.18200426] [ 0. 0. 0. 1. ]] SLAMing on 42.504206098999994 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:13.97, Y:-15.86, Z:15.21 [[ 0.14250466 0.98866107 0.04734668 13.97001447] [ -0.87331506 0.14810426 -0.4640969 -15.85632658] [ -0.46584679 0.0247874 0.88451815 15.20650158] [ 0. 0. 0. 1. ]] SLAMing on 42.53420609899999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:13.99, Y:-15.87, Z:15.23 [[ 1.02774686e-01 9.93169790e-01 5.52370532e-02 1.39941632e+01] [-8.78707969e-01 1.16674065e-01 -4.62881699e-01 -1.58745547e+01] [-4.66164851e-01 -9.64717605e-04 8.84697350e-01 1.52276743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.56420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.99, Y:-15.90, Z:15.25 [[ 1.08570530e-01 9.92543417e-01 5.54076361e-02 1.39902414e+01] [-8.75535497e-01 1.21870872e-01 -4.67530837e-01 -1.58952055e+01] [-4.70797231e-01 2.24871851e-03 8.82238579e-01 1.52500176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.59420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.99, Y:-15.92, Z:15.27 [[ 1.09703684e-01 9.92486956e-01 5.41732849e-02 1.39924572e+01] [-8.75805034e-01 1.22292176e-01 -4.66915587e-01 -1.59176772e+01] [-4.70032598e-01 3.77712425e-03 8.82640975e-01 1.52741946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.62420609899999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:14.01, Y:-15.94, Z:15.30 [[ 8.95686317e-02 9.94428667e-01 5.55795457e-02 1.40082463e+01] [-8.80458582e-01 1.05142666e-01 -4.62317754e-01 -1.59388766e+01] [-4.65585809e-01 -7.52631940e-03 8.84970739e-01 1.52966073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.65420609899999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:14.01, Y:-15.96, Z:15.32 [[ 1.02098422e-01 9.93518521e-01 4.99685931e-02 1.40050623e+01] [-8.79924116e-01 1.13627187e-01 -4.61326796e-01 -1.59620832e+01] [-4.64014507e-01 3.13216778e-03 8.85822063e-01 1.53191636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.684206098999994 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:14.02, Y:-15.98, Z:15.34 [[ 7.84871773e-02 9.95424416e-01 5.44976551e-02 1.40200308e+01] [-8.82267124e-01 9.48094917e-02 -4.61102897e-01 -1.59818824e+01] [-4.64159977e-01 -1.18908246e-02 8.85671567e-01 1.53430441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.71420609899999 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:14.01, Y:-16.00, Z:15.37 [[ 1.04756506e-01 9.93336568e-01 4.80472421e-02 1.40078117e+01] [-8.77130206e-01 1.15054604e-01 -4.66267134e-01 -1.60032256e+01] [-4.68688251e-01 6.70082855e-03 8.83338226e-01 1.53703376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74420609899999 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:14.02, Y:-16.03, Z:15.39 [[ 8.34735360e-02 9.95151812e-01 5.20099927e-02 1.40219207e+01] [-8.81816121e-01 9.80750990e-02 -4.61282564e-01 -1.60256930e+01] [-4.64147065e-01 -7.35836330e-03 8.85727586e-01 1.53888133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.77420609899999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:14.04, Y:-16.05, Z:15.41 [[ 0.05688405 0.9965892 0.05978431 14.03889312] [ -0.8842878 0.07809089 -0.46036604 -16.04676833] [ -0.46346444 -0.02667905 0.8857138 15.41107487] [ 0. 0. 0. 1. ]] SLAMing on 42.80420609899999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:14.03, Y:-16.07, Z:15.43 [[ 7.38652436e-02 9.95890721e-01 5.23984445e-02 1.40331902e+01] [-8.83772924e-01 8.97119760e-02 -4.59235430e-01 -1.60685587e+01] [-4.62049071e-01 -1.23867896e-02 8.86767852e-01 1.54336371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.83420609899999 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:14.04, Y:-16.09, Z:15.46 [[ 7.40538699e-02 9.96001311e-01 4.99741199e-02 1.40368976e+01] [-8.85317209e-01 8.87263390e-02 -4.56443947e-01 -1.60901834e+01] [-4.59052790e-01 -1.04415077e-02 8.88347629e-01 1.54564211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86420609899999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:14.04, Y:-16.11, Z:15.48 [[ 7.42424761e-02 9.96019941e-01 4.93186769e-02 1.40400315e+01] [-8.84247689e-01 8.86157158e-02 -4.58533836e-01 -1.61112431e+01] [-4.61079255e-01 -9.56723868e-03 8.87307381e-01 1.54825411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.89420609899999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:14.05, Y:-16.13, Z:15.51 [[ 6.63535168e-02 9.96569262e-01 4.94663299e-02 1.40478883e+01] [-8.86192529e-01 8.16420586e-02 -4.56067292e-01 -1.61326429e+01] [-4.58541178e-01 -1.35750232e-02 8.88569472e-01 1.55067544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.92420609899999 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:14.04, Y:-16.15, Z:15.53 [[ 8.37242148e-02 9.95388076e-01 4.68276968e-02 1.40403311e+01] [-8.81585561e-01 9.58951785e-02 -4.62180715e-01 -1.61508796e+01] [-4.64539723e-01 -2.58690395e-03 8.85548505e-01 1.55348439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.95420609899999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:14.04, Y:-16.18, Z:15.56 [[ 9.22596584e-02 9.94935739e-01 3.98877178e-02 1.40399971e+01] [-8.83825558e-01 1.00275691e-01 -4.56943288e-01 -1.61759138e+01] [-4.58628976e-01 6.90364720e-03 8.88601036e-01 1.55559677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.98420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.04, Y:-16.20, Z:15.57 [[ 9.87933802e-02 9.94248616e-01 4.13468063e-02 1.40379833e+01] [-8.83700285e-01 1.06760113e-01 -4.55714916e-01 -1.61987891e+01] [-4.57508114e-01 8.48343236e-03 8.89164977e-01 1.55738429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.01420609899999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:14.08, Y:-16.22, Z:15.59 [[ 1.41499881e-02 9.97827997e-01 6.43355762e-02 1.40843157e+01] [-8.92463228e-01 4.16180420e-02 -4.49196309e-01 -1.62185237e+01] [-4.50898174e-01 -5.10610136e-02 8.91113690e-01 1.55946585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.05, Y:-16.24, Z:15.63 [[ 7.86821716e-02 9.96072003e-01 4.06162725e-02 1.40547709e+01] [-8.86732629e-01 8.85464058e-02 -4.53723240e-01 -1.62389621e+01] [-4.55537441e-01 -3.15844289e-04 8.90216569e-01 1.56254566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.07420609899999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:14.06, Y:-16.26, Z:15.64 [[ 0.06065357 0.99683784 0.05133671 14.06472874] [ -0.8892523 0.07732517 -0.45083386 -16.25903477] [ -0.45337788 -0.0183066 0.89113039 15.64027556] [ 0. 0. 0. 1. ]] SLAMing on 43.10420609899999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:14.08, Y:-16.28, Z:15.67 [[ 0.04369728 0.9981439 0.04241817 14.07804564] [ -0.89278807 0.05806918 -0.44671852 -16.28129117] [ -0.44835255 -0.01835005 0.89366843 15.66773482] [ 0. 0. 0. 1. ]] SLAMing on 43.13420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.07, Y:-16.30, Z:15.69 [[ 6.65504994e-02 9.97167865e-01 3.50325516e-02 1.40684981e+01] [-8.91747157e-01 7.51922168e-02 -4.46243363e-01 -1.63038431e+01] [-4.47613717e-01 -1.54245963e-03 8.94225688e-01 1.56921705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16420609899999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:14.07, Y:-16.32, Z:15.72 [[ 6.38216949e-02 9.97366871e-01 3.44400389e-02 1.40721373e+01] [-8.92941126e-01 7.24815817e-02 -4.44300086e-01 -1.63247673e+01] [-4.45626455e-01 -2.39694252e-03 8.95215794e-01 1.57158083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.19420609899999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:14.07, Y:-16.35, Z:15.74 [[ 6.78489774e-02 9.97119708e-01 3.38940169e-02 1.40722338e+01] [-8.92949750e-01 7.58436724e-02 -4.43721176e-01 -1.63464805e+01] [-4.45013776e-01 -1.59625833e-04 8.95523709e-01 1.57409928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22420609899999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:14.07, Y:-16.37, Z:15.77 [[ 6.68022796e-02 9.97209045e-01 3.33402965e-02 1.40742853e+01] [-8.93416112e-01 7.46597756e-02 -4.42982582e-01 -1.63679397e+01] [-4.44235417e-01 -1.94511734e-04 8.95910072e-01 1.57655574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.254206098999994 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:14.08, Y:-16.39, Z:15.79 [[ 6.34586783e-02 9.97443420e-01 3.28575674e-02 1.40775144e+01] [-8.94049345e-01 7.14485857e-02 -4.42233952e-01 -1.63889006e+01] [-4.43450972e-01 -1.31270457e-03 8.96297669e-01 1.57894870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28420609899999 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:14.08, Y:-16.41, Z:15.82 [[ 6.43717085e-02 9.97388280e-01 3.27551769e-02 1.40789253e+01] [-8.93974180e-01 7.22215836e-02 -4.42260340e-01 -1.64092292e+01] [-4.43470910e-01 -8.13228753e-04 8.96288397e-01 1.58151225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.31420609899999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:14.08, Y:-16.43, Z:15.84 [[ 6.37394772e-02 9.97452442e-01 3.20297604e-02 1.40817779e+01] [-8.94766054e-01 7.13323899e-02 -4.40800860e-01 -1.64308871e+01] [-4.41962654e-01 -5.62725970e-04 8.97033275e-01 1.58397124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.34420609899999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:14.07, Y:-16.46, Z:15.86 [[ 0.09366567 0.9953004 0.02457368 14.06816858] [ -0.89281158 0.09489207 -0.44032146 -16.45551876] [ -0.44058397 0.01930334 0.89750384 15.86027955] [ 0. 0. 0. 1. ]] SLAMing on 43.37420609899999 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:14.09, Y:-16.48, Z:15.88 [[ 4.95724547e-02 9.98195800e-01 3.38779557e-02 1.40929164e+01] [-8.96571346e-01 5.94213199e-02 -4.38895123e-01 -1.64761483e+01] [-4.40116341e-01 -8.61689571e-03 8.97899413e-01 1.58842192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40420609899999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:14.10, Y:-16.50, Z:15.91 [[ 4.15623390e-02 9.98478506e-01 3.62387307e-02 1.40985637e+01] [-8.97630604e-01 5.32438337e-02 -4.37520735e-01 -1.64963191e+01] [-4.38784538e-01 -1.43446086e-02 8.98477802e-01 1.59059006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.434206098999994 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:14.10, Y:-16.52, Z:15.93 [[ 5.03744257e-02 9.98205213e-01 3.23847091e-02 1.40964857e+01] [-8.99407548e-01 5.94380484e-02 -4.33051015e-01 -1.65181650e+01] [-4.34198665e-01 -7.31235558e-03 9.00787460e-01 1.59287287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46420609899999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:14.11, Y:-16.54, Z:15.96 [[ 0.02596149 0.99894791 0.0378031 14.11163192] [ -0.90122732 0.0397518 -0.43151954 -16.53792407] [ -0.43256828 -0.0228663 0.90131116 15.9557076 ] [ 0. 0. 0. 1. ]] SLAMing on 43.49420609899999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:14.09, Y:-16.56, Z:15.98 [[ 6.87722461e-02 9.97294912e-01 2.59468053e-02 1.40908461e+01] [-8.97650359e-01 7.32075675e-02 -4.34585417e-01 -1.65586017e+01] [-4.35309327e-01 6.59625611e-03 9.00256785e-01 1.59794639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52420609899999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:14.11, Y:-16.58, Z:16.00 [[ 4.02208422e-02 9.98628029e-01 3.35312275e-02 1.41070430e+01] [-9.00517759e-01 5.07695345e-02 -4.31845134e-01 -1.65791106e+01] [-4.32955020e-01 -1.28262908e-02 9.01324268e-01 1.60036401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.55420609899999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:14.09, Y:-16.60, Z:16.03 [[ 6.91691711e-02 9.97273345e-01 2.57196514e-02 1.40929541e+01] [-8.97502124e-01 7.34639338e-02 -4.34848236e-01 -1.65999484e+01] [-4.35552022e-01 6.99465032e-03 9.00136385e-01 1.60275074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58420609899999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:14.10, Y:-16.62, Z:16.05 [[ 5.28489725e-02 9.98136313e-01 3.05104497e-02 1.41037090e+01] [-8.98366744e-01 6.08635100e-02 -4.35008995e-01 -1.66202068e+01] [-4.36055248e-01 -4.41979492e-03 8.99909043e-01 1.60510629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.61420609899999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:14.11, Y:-16.64, Z:16.08 [[ 5.32845334e-02 9.98158524e-01 2.89882498e-02 1.41050971e+01] [-9.02645612e-01 6.05605360e-02 -4.26102476e-01 -1.66419105e+01] [-4.27073363e-01 -3.46144487e-03 9.04210352e-01 1.60750417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.11, Y:-16.66, Z:16.10 [[ 4.73718659e-02 9.98401514e-01 3.08273228e-02 1.41102822e+01] [-9.02988807e-01 5.59981955e-02 -4.25999315e-01 -1.66619529e+01] [-4.27044635e-01 -7.65634502e-03 9.04198131e-01 1.60996566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.67420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.11, Y:-16.68, Z:16.12 [[ 5.44229777e-02 9.98124357e-01 2.80340515e-02 1.41083796e+01] [-9.03485020e-01 6.11780111e-02 -4.24231150e-01 -1.66837517e+01] [-4.25150512e-01 -2.24042321e-03 9.05119894e-01 1.61227319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.70420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.11, Y:-16.70, Z:16.15 [[ 4.70998057e-02 9.98455077e-01 2.94799372e-02 1.41140018e+01] [-9.03971934e-01 5.51621691e-02 -4.24018723e-01 -1.67041761e+01] [-4.24989825e-01 -6.67783637e-03 9.05173495e-01 1.61470911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.73420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.12, Y:-16.73, Z:16.17 [[ 4.87512948e-02 9.98426407e-01 2.77131961e-02 1.41151559e+01] [-9.04253760e-01 5.59030658e-02 -4.23320192e-01 -1.67258053e+01] [-4.24203311e-01 -4.42235429e-03 9.05556179e-01 1.61712874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.12, Y:-16.75, Z:16.20 [[ 5.19866636e-02 9.98310378e-01 2.59571985e-02 1.41150808e+01] [-9.06758415e-01 5.80780199e-02 -4.17631562e-01 -1.67461082e+01] [-4.18433465e-01 -1.82563668e-03 9.08245618e-01 1.61956504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.79420609899999 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:14.12, Y:-16.77, Z:16.22 [[ 4.53508147e-02 9.98583908e-01 2.78115320e-02 1.41190786e+01] [-9.07882496e-01 5.28143891e-02 -4.15884615e-01 -1.67663696e+01] [-4.16764533e-01 -6.38889697e-03 9.08992027e-01 1.62193546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.82420609899999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:14.12, Y:-16.79, Z:16.24 [[ 5.00153644e-02 9.98421941e-01 2.55360712e-02 1.41190548e+01] [-9.08787587e-01 5.61002848e-02 -4.13470531e-01 -1.67882178e+01] [-4.14250631e-01 -2.52698527e-03 9.10159343e-01 1.62441173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.85420609899999 meters Centerline goodness : 0.999965 Centerline is valid? [True, True] Translation: X:14.13, Y:-16.81, Z:16.27 [[ 3.84518537e-02 9.98931842e-01 2.56247747e-02 1.41253104e+01] [-9.11283739e-01 4.55761455e-02 -4.09249022e-01 -1.68092129e+01] [-4.09979758e-01 -7.61505698e-03 9.12062832e-01 1.62687184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.88420609899999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:14.11, Y:-16.83, Z:16.29 [[ 7.46601325e-02 9.97017594e-01 1.95392366e-02 1.41102621e+01] [-9.10102413e-01 7.61343339e-02 -4.07329303e-01 -1.68312383e+01] [-4.07602088e-01 1.26285533e-02 9.13072318e-01 1.62891538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.91420609899999 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:14.14, Y:-16.85, Z:16.31 [[ 0.01872635 0.99933613 0.03125093 14.14130527] [ -0.91484926 0.02973625 -0.40269912 -16.84972399] [ -0.40336107 -0.0210488 0.91479877 16.31473829] [ 0. 0. 0. 1. ]] SLAMing on 43.94420609899999 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:14.13, Y:-16.87, Z:16.34 [[ 4.82568739e-02 9.98574890e-01 2.27917374e-02 1.41269251e+01] [-9.16186405e-01 5.33408819e-02 -3.97186634e-01 -1.68742021e+01] [-3.97836331e-01 -1.71449465e-03 9.17454802e-01 1.63380600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.97420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.11, Y:-16.89, Z:16.36 [[ 7.92135114e-02 9.96742071e-01 1.51809992e-02 1.41115915e+01] [-9.12654769e-01 7.86398119e-02 -4.01094818e-01 -1.68945474e+01] [-4.00981911e-01 1.79171176e-02 9.15910740e-01 1.63619481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.13, Y:-16.92, Z:16.39 [[ 3.87815679e-02 9.98913338e-01 2.58482793e-02 1.41335707e+01] [-9.17348957e-01 4.58473681e-02 -3.95435090e-01 -1.69154826e+01] [-3.96190461e-01 -8.37629932e-03 9.18130141e-01 1.63863172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.03420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.11, Y:-16.94, Z:16.41 [[ 8.19951313e-02 9.96541975e-01 1.34495480e-02 1.41118020e+01] [-9.12929639e-01 8.05153190e-02 -4.00095936e-01 -1.69371938e+01] [-3.99795289e-01 2.05274278e-02 9.16374570e-01 1.64106046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.12, Y:-16.96, Z:16.44 [[ 6.32370766e-02 9.97807197e-01 1.95415079e-02 1.41248478e+01] [-9.14833152e-01 6.57817055e-02 -3.98438291e-01 -1.69571327e+01] [-3.98850068e-01 7.31885342e-03 9.16986945e-01 1.64352409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.09420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.14, Y:-16.98, Z:16.46 [[ 4.40740473e-02 9.98722154e-01 2.47292969e-02 1.41363948e+01] [-9.18273113e-01 5.02485598e-02 -3.92746192e-01 -1.69775574e+01] [-3.93486935e-01 -5.39833420e-03 9.19314359e-01 1.64610988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.12420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.13, Y:-17.00, Z:16.49 [[ 6.04423457e-02 9.98009395e-01 1.79991795e-02 1.41295570e+01] [-9.15477202e-01 6.26123324e-02 -3.97468476e-01 -1.69975703e+01] [-3.97804243e-01 7.54608853e-03 9.17439284e-01 1.64862484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.15420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.13, Y:-17.02, Z:16.51 [[ 5.09324329e-02 9.98518598e-01 1.91441010e-02 1.41344183e+01] [-9.18052027e-01 5.43573406e-02 -3.92715871e-01 -1.70201037e+01] [-3.93174723e-01 2.42669401e-03 9.19460575e-01 1.65106391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.184206098999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.13, Y:-17.04, Z:16.54 [[ 5.56159816e-02 9.98314650e-01 1.65747482e-02 1.41331587e+01] [-9.17630404e-01 5.76497874e-02 -3.93231413e-01 -1.70404199e+01] [-3.93524211e-01 6.66045812e-03 9.19290125e-01 1.65364386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.21420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.13, Y:-17.06, Z:16.56 [[ 5.44092009e-02 9.98388997e-01 1.60950324e-02 1.41347182e+01] [-9.18249143e-01 5.63608000e-02 -3.91971901e-01 -1.70616219e+01] [-3.92247562e-01 6.54762828e-03 9.19836387e-01 1.65612863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.24420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.14, Y:-17.08, Z:16.59 [[ 5.30042128e-02 9.98467185e-01 1.59321743e-02 1.41366437e+01] [-9.17584640e-01 5.49929362e-02 -3.93718434e-01 -1.70817140e+01] [-3.93991094e-01 6.24961730e-03 9.19093010e-01 1.65869825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.27420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.14, Y:-17.10, Z:16.61 [[ 5.12336105e-02 9.98551846e-01 1.64112129e-02 1.41387411e+01] [-9.16574654e-01 5.35401194e-02 -3.96262992e-01 -1.71019546e+01] [-3.96567801e-01 5.25988205e-03 9.17990366e-01 1.66115420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.30420609899999 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:14.14, Y:-17.12, Z:16.64 [[ 4.44625139e-02 9.98858528e-01 1.74564208e-02 1.41434759e+01] [-9.18193543e-01 4.77443304e-02 -3.93244321e-01 -1.71233071e+01] [-3.93628888e-01 1.45625820e-03 9.19268284e-01 1.66368629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.33420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:14.14, Y:-17.14, Z:16.66 [[ 5.34870452e-02 9.98459506e-01 1.47563762e-02 1.41402162e+01] [-9.15775392e-01 5.49385513e-02 -3.97916056e-01 -1.71431152e+01] [-3.98113763e-01 7.76982795e-03 9.17303146e-01 1.66617829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36420609899999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:14.14, Y:-17.17, Z:16.68 [[ 4.45689190e-02 9.98879951e-01 1.58888053e-02 1.41438862e+01] [-9.13639627e-01 4.71883184e-02 -4.03777035e-01 -1.71658330e+01] [-4.04074552e-01 3.47926384e-03 9.14719439e-01 1.66846894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.39420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.15, Y:-17.19, Z:16.71 [[ 2.76749977e-02 9.99429710e-01 1.93481135e-02 1.41538198e+01] [-9.17677783e-01 3.30764067e-02 -3.95946256e-01 -1.71876091e+01] [-3.96360418e-01 -6.79752215e-03 9.18069830e-01 1.67095512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.15, Y:-17.21, Z:16.73 [[ 4.32648946e-02 9.98968488e-01 1.37879760e-02 1.41464383e+01] [-9.17043716e-01 4.51854601e-02 -3.96218496e-01 -1.72101093e+01] [-3.96432808e-01 4.49817476e-03 9.18052719e-01 1.67339488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.45420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.15, Y:-17.23, Z:16.76 [[ 4.68604183e-02 9.98828590e-01 1.20643894e-02 1.41454557e+01] [-9.13796469e-01 4.77430636e-02 -4.03356681e-01 -1.72302190e+01] [-4.03460176e-01 7.87706640e-03 9.14963299e-01 1.67576869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.48420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.15, Y:-17.25, Z:16.78 [[ 3.14371264e-02 9.99383297e-01 1.56439119e-02 1.41545301e+01] [-9.14789293e-01 3.50751756e-02 -4.02405618e-01 -1.72506915e+01] [-4.02706166e-01 -1.66040683e-03 9.15327803e-01 1.67821274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51420609899999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:14.16, Y:-17.28, Z:16.80 [[ 2.63901726e-02 9.99516967e-01 1.64131717e-02 1.41582029e+01] [-9.16235338e-01 3.07508454e-02 -3.99458622e-01 -1.72755441e+01] [-3.99770389e-01 -4.49654598e-03 9.16604286e-01 1.68039941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54420609899999 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:14.15, Y:-17.30, Z:16.83 [[ 3.89194327e-02 9.99168372e-01 1.21590698e-02 1.41525285e+01] [-9.12060591e-01 4.04920795e-02 -4.08051308e-01 -1.72972961e+01] [-4.08204307e-01 4.79131702e-03 9.12878024e-01 1.68263607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.57420609899999 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:14.16, Y:-17.32, Z:16.85 [[ 3.30771621e-02 9.99356470e-01 1.38761039e-02 1.41567398e+01] [-9.14827367e-01 3.58646282e-02 -4.02249446e-01 -1.73190905e+01] [-4.02488248e-01 6.11030513e-04 9.15424949e-01 1.68511990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60420609899999 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:14.13, Y:-17.34, Z:16.87 [[ 7.89723399e-02 9.96875569e-01 1.57164791e-03 1.41342548e+01] [-9.11824828e-01 7.28716642e-02 -4.04060890e-01 -1.73412193e+01] [-4.02912958e-01 3.04765664e-02 9.14730740e-01 1.68737126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.63420609899999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:14.17, Y:-17.36, Z:16.90 [[ 1.86404193e-02 9.99667573e-01 1.78122914e-02 1.41672286e+01] [-9.15393144e-01 2.42289017e-02 -4.01831249e-01 -1.73583866e+01] [-4.02129241e-01 -8.81494644e-03 9.15540480e-01 1.68961922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.66420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.16, Y:-17.38, Z:16.92 [[ 3.06461005e-02 9.99455241e-01 1.22489770e-02 1.41603985e+01] [-9.14239763e-01 3.29823426e-02 -4.03828951e-01 -1.73771603e+01] [-4.04012962e-01 1.17728077e-03 9.14752503e-01 1.69233413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.69420609899999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:14.16, Y:-17.39, Z:16.95 [[ 3.81093285e-02 9.99220404e-01 1.03084235e-02 1.41578567e+01] [-9.13304878e-01 3.90149230e-02 -4.05403548e-01 -1.73936604e+01] [-4.05489679e-01 6.03492356e-03 9.14079701e-01 1.69508146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72420609899999 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:14.15, Y:-17.42, Z:16.97 [[ 5.24251495e-02 9.98612894e-01 4.88799779e-03 1.41496953e+01] [-9.13350426e-01 4.99270356e-02 -4.04101833e-01 -1.74173032e+01] [-4.03785344e-01 1.67206441e-02 9.14700944e-01 1.69733058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.75420609899999 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:14.17, Y:-17.44, Z:17.00 [[ 1.48744492e-02 9.99803790e-01 1.30817339e-02 1.41675889e+01] [-9.17997000e-01 1.88405886e-02 -3.96139546e-01 -1.74382417e+01] [-3.96308287e-01 -6.11663488e-03 9.18097124e-01 1.69962767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78420609899999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:14.16, Y:-17.46, Z:17.02 [[ 3.05784304e-02 9.99493941e-01 8.76484208e-03 1.41600518e+01] [-9.16644502e-01 3.15379254e-02 -3.98457296e-01 -1.74577397e+01] [-3.98532078e-01 4.14995438e-03 9.17145005e-01 1.70217614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.81420609899999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:14.16, Y:-17.48, Z:17.05 [[ 2.99488501e-02 9.99514372e-01 8.60731120e-03 1.41609805e+01] [-9.16664800e-01 3.08977372e-02 -3.98460757e-01 -1.74786535e+01] [-3.98533200e-01 4.04342227e-03 9.17144994e-01 1.70479264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.84420609899999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:14.16, Y:-17.50, Z:17.08 [[ 2.15870541e-02 9.99734913e-01 8.00638910e-03 1.41637637e+01] [-9.16751643e-01 2.29889742e-02 -3.98795602e-01 -1.74968398e+01] [-3.98873946e-01 1.26895189e-03 9.17004888e-01 1.70752543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.87420609899999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:14.17, Y:-17.52, Z:17.10 [[ 1.62566069e-02 9.99839207e-01 7.56851164e-03 1.41670624e+01] [-9.16607879e-01 1.79265689e-02 -3.99385320e-01 -1.75168010e+01] [-3.99456779e-01 -4.44707262e-04 9.16751921e-01 1.71010540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90420609899999 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:14.17, Y:-17.54, Z:17.13 [[ 2.07119459e-02 9.99757049e-01 7.54048166e-03 1.41659882e+01] [-9.15608675e-01 2.19966468e-02 -4.01468432e-01 -1.75358374e+01] [-4.01536760e-01 1.41106200e-03 9.15841820e-01 1.71281526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.934206098999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.17, Y:-17.56, Z:17.15 [[ 1.93276532e-02 9.99786479e-01 7.31019993e-03 1.41674433e+01] [-9.16001903e-01 2.06373522e-02 -4.00642750e-01 -1.75565097e+01] [-4.00708068e-01 1.04732710e-03 9.16205189e-01 1.71543788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.19, Y:-17.57, Z:17.18 [[-1.84613869e-02 9.99683893e-01 1.70672565e-02 1.41894995e+01] [-9.13174541e-01 -9.90757617e-03 -4.07448276e-01 -1.75720632e+01] [-4.07150384e-01 -2.31074444e-02 9.13068788e-01 1.71810471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.99420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.18, Y:-17.59, Z:17.21 [[-7.60600051e-04 9.99946564e-01 1.03097067e-02 1.41808451e+01] [-9.13074825e-01 3.50976358e-03 -4.07776956e-01 -1.75922677e+01] [-4.07791351e-01 -9.72368878e-03 9.13023365e-01 1.72067516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.17, Y:-17.62, Z:17.23 [[ 2.14258613e-02 9.99766798e-01 2.69861276e-03 1.41695771e+01] [-9.14848123e-01 2.06944978e-02 -4.03267466e-01 -1.76151787e+01] [-4.03229270e-01 6.17153198e-03 9.15078176e-01 1.72325878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.05420609899999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:14.18, Y:-17.64, Z:17.26 [[ 1.09450309e-02 9.99924917e-01 5.51053328e-03 1.41758724e+01] [-9.14834534e-01 1.22381016e-02 -4.03643412e-01 -1.76351253e+01] [-4.03680544e-01 -6.23336519e-04 9.14899792e-01 1.72590145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08420609899999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:14.19, Y:-17.65, Z:17.28 [[-1.04333925e-02 9.99883642e-01 1.11286143e-02 1.41884369e+01] [-9.12987743e-01 -4.98614894e-03 -4.07956517e-01 -1.76518313e+01] [-4.07853559e-01 -1.44166589e-02 9.12933532e-01 1.72841249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.11420609899999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:14.18, Y:-17.67, Z:17.31 [[ 1.02902083e-02 9.99934784e-01 4.95374307e-03 1.41786766e+01] [-9.14771954e-01 1.14143061e-02 -4.03809344e-01 -1.76734175e+01] [-4.03839553e-01 -3.76262972e-04 9.14829751e-01 1.73097983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14420609899999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:14.18, Y:-17.69, Z:17.34 [[ 5.59145701e-03 9.99964590e-01 6.28920795e-03 1.41818873e+01] [-9.11850637e-01 7.68025274e-03 -4.10450276e-01 -1.76907608e+01] [-4.10484045e-01 -3.43980320e-03 9.11861292e-01 1.73354746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.17420609899999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:14.19, Y:-17.71, Z:17.36 [[-4.51682220e-03 9.99958154e-01 7.95541181e-03 1.41887739e+01] [-9.12240582e-01 -8.61498494e-04 -4.09653975e-01 -1.77117892e+01] [-4.09629979e-01 -9.10758366e-03 9.12206299e-01 1.73599813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.20420609899999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:14.19, Y:-17.73, Z:17.39 [[-6.11263984e-03 9.99955390e-01 7.20095446e-03 1.41898725e+01] [-9.12877969e-01 -2.64060954e-03 -4.08224009e-01 -1.77322613e+01] [-4.08186783e-01 -9.06891902e-03 9.12853386e-01 1.73852416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.23420609899999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:14.19, Y:-17.75, Z:17.41 [[ 3.10584065e-03 9.99985118e-01 4.48522897e-03 1.41852092e+01] [-9.12175740e-01 4.67106604e-03 -4.09772620e-01 -1.77518009e+01] [-4.09787472e-01 -2.81862860e-03 9.12176673e-01 1.74101019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26420609899999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:14.19, Y:-17.77, Z:17.43 [[ 2.84014835e-03 9.99988480e-01 3.86964227e-03 1.41866141e+01] [-9.13451056e-01 4.16904743e-03 -4.06927251e-01 -1.77743114e+01] [-4.06938696e-01 -2.37899505e-03 9.13452373e-01 1.74308238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.29420609899999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:14.19, Y:-17.80, Z:17.46 [[-8.02198831e-03 9.99952287e-01 5.57412861e-03 1.41930729e+01] [-9.14203545e-01 -5.07520415e-03 -4.05223544e-01 -1.77954900e+01] [-4.05175920e-01 -8.34658666e-03 9.14200639e-01 1.74555835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.32420609899999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:14.20, Y:-17.81, Z:17.48 [[-2.88809148e-02 9.99550863e-01 7.99784296e-03 1.42048971e+01] [-9.14522196e-01 -2.31925627e-02 -4.03870347e-01 -1.78136819e+01] [-4.03503464e-01 -1.89783500e-02 9.14781273e-01 1.74800839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.35420609899999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:14.20, Y:-17.84, Z:17.50 [[-1.92995522e-02 9.99798630e-01 5.49787869e-03 1.41999107e+01] [-9.16562285e-01 -1.54954557e-02 -3.99591627e-01 -1.78352490e+01] [-3.99425969e-01 -1.27510877e-02 9.16676772e-01 1.75027379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.38420609899999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:14.20, Y:-17.86, Z:17.53 [[-1.54834314e-02 9.99869789e-01 4.54629240e-03 1.41982120e+01] [-9.17510337e-01 -1.24005874e-02 -3.97518562e-01 -1.78563377e+01] [-3.97410424e-01 -1.03262217e-02 9.17582870e-01 1.75258604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.41420609899999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:14.21, Y:-17.89, Z:17.57 [[-3.69572763e-02 9.99258332e-01 1.08141268e-02 1.42120904e+01] [-9.15407688e-01 -2.95115891e-02 -4.01444679e-01 -1.78863381e+01] [-4.00827798e-01 -2.47356367e-02 9.15819428e-01 1.75650847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.44420609899999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:14.21, Y:-17.91, Z:17.59 [[-3.52696134e-02 9.99321829e-01 1.05800474e-02 1.42112800e+01] [-9.17260774e-01 -2.81671888e-02 -3.97289922e-01 -1.79059281e+01] [-3.96722482e-01 -2.37169245e-02 9.17632159e-01 1.75888726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.47420609899999 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:14.19, Y:-17.93, Z:17.61 [[ 3.60819312e-03 9.99993481e-01 1.34552056e-04 1.41915639e+01] [-9.18838166e-01 3.36846446e-03 -3.94620169e-01 -1.79259960e+01] [-3.94618050e-01 1.30023421e-03 9.18844331e-01 1.76137528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.50420609899999 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:14.22, Y:-17.95, Z:17.63 [[-4.18875577e-02 9.99023158e-01 1.40769852e-02 1.42169313e+01] [-9.19839977e-01 -3.30594742e-02 -3.90898309e-01 -1.79458997e+01] [-3.90051085e-01 -2.93223492e-02 9.20326220e-01 1.76340718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.53420609899999 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:14.18, Y:-18.75, Z:17.02 [[ 1.56894730e-02 -9.94241501e-01 1.06007913e-01 1.41817445e+01] [ 5.55423756e-01 -7.94924834e-02 -8.27759262e-01 -1.87539358e+01] [ 8.31419444e-01 7.18664199e-02 5.50978154e-01 1.70213929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.56420609899999 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:14.10, Y:-18.02, Z:17.72 [[ 0.20750689 0.97671699 0.05445003 14.0988917 ] [ -0.86824819 0.20953288 -0.4497122 -18.01830736] [ -0.45065061 0.04604224 0.89151227 17.71900499] [ 0. 0. 0. 1. ]] SLAMing on 45.59420609899999 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:14.14, Y:-18.04, Z:17.74 [[ 1.37619255e-01 9.87919472e-01 7.12464601e-02 1.41410933e+01] [-8.82505173e-01 1.54958046e-01 -4.44041241e-01 -1.80359543e+01] [-4.49717201e-01 -1.76674498e-03 8.93169255e-01 1.77435756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.62420609899999 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:14.15, Y:-18.06, Z:17.77 [[ 1.28474997e-01 9.89054327e-01 7.25652329e-02 1.41498878e+01] [-8.85096084e-01 1.47360560e-01 -4.41463235e-01 -1.80567788e+01] [-4.47324376e-01 -7.51021569e-03 8.94340259e-01 1.77658238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.65420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.18, Y:-18.08, Z:17.79 [[ 0.08317147 0.9930851 0.08285225 14.17768405] [ -0.89615416 0.11089974 -0.42966146 -18.0753783 ] [ -0.43587869 -0.03851282 0.89918103 17.78740459] [ 0. 0. 0. 1. ]] SLAMing on 45.68420609899999 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:14.15, Y:-18.10, Z:17.81 [[ 1.42590008e-01 9.87564226e-01 6.62192538e-02 1.41493557e+01] [-8.87252868e-01 1.57185829e-01 -4.33676105e-01 -1.81008728e+01] [-4.38691735e-01 3.08465656e-03 8.98632320e-01 1.78109121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.71420609899999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:14.15, Y:-18.12, Z:17.83 [[ 1.55320476e-01 9.85830062e-01 6.33611810e-02 1.41462818e+01] [-8.86718780e-01 1.67402310e-01 -4.30936506e-01 -1.81229874e+01] [-4.35436970e-01 1.07497142e-02 9.00155036e-01 1.78303530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.74420609899999 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:14.17, Y:-18.14, Z:17.85 [[ 1.18184357e-01 9.90336080e-01 7.25734535e-02 1.41697849e+01] [-8.93657449e-01 1.37939930e-01 -4.27023349e-01 -1.81405126e+01] [-4.32907407e-01 -1.43883276e-02 9.01323556e-01 1.78531316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.77420609899999 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:14.17, Y:-18.16, Z:17.88 [[ 1.28699366e-01 9.89370385e-01 6.76957436e-02 1.41679007e+01] [-8.93136530e-01 1.45306562e-01 -4.25667878e-01 -1.81621371e+01] [-4.30979829e-01 -5.67835538e-03 9.02343695e-01 1.78762452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80420609899999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:14.18, Y:-18.18, Z:17.90 [[ 0.10601293 0.99159835 0.07412136 14.18415691] [ -0.895293 0.12762031 -0.42680616 -18.17907317] [ -0.43267968 -0.02111336 0.90130046 17.90150361] [ 0. 0. 0. 1. ]] SLAMing on 45.83420609899999 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:14.18, Y:-18.20, Z:17.92 [[ 1.16172779e-01 9.90811026e-01 6.92632395e-02 1.41826684e+01] [-8.95637450e-01 1.34647662e-01 -4.23914573e-01 -1.82020804e+01] [-4.29345367e-01 -1.27874169e-02 9.03049854e-01 1.79239926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86420609899999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:14.17, Y:-18.23, Z:17.94 [[ 1.42713585e-01 9.87831677e-01 6.18175669e-02 1.41708935e+01] [-8.93294666e-01 1.55447474e-01 -4.21735371e-01 -1.82275510e+01] [-4.26212943e-01 4.96606384e-03 9.04609234e-01 1.79448864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.89420609899999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:14.18, Y:-18.25, Z:17.97 [[ 1.28791616e-01 9.89555559e-01 6.47496300e-02 1.41816252e+01] [-8.96578190e-01 1.44093196e-01 -4.18789564e-01 -1.82488585e+01] [-4.23745523e-01 -4.11652119e-03 9.05771928e-01 1.79689664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.92420609899999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:14.19, Y:-18.27, Z:17.99 [[ 1.20095535e-01 9.90535857e-01 6.64513174e-02 1.41896701e+01] [-8.97895004e-01 1.36930440e-01 -4.18371385e-01 -1.82675891e+01] [-4.23511067e-01 -9.42177060e-03 9.05841932e-01 1.79922965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.95420609899999 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:14.20, Y:-18.29, Z:18.02 [[ 1.14613477e-01 9.91076223e-01 6.80563742e-02 1.41960169e+01] [-8.98477360e-01 1.32643047e-01 -4.18502396e-01 -1.82861948e+01] [-4.23794979e-01 -1.31810966e-02 9.05662230e-01 1.80167802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.98420609899999 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:14.20, Y:-18.31, Z:18.04 [[ 1.16337821e-01 9.90986577e-01 6.64162289e-02 1.41983395e+01] [-9.01084770e-01 1.33436470e-01 -4.12602650e-01 -1.83073460e+01] [-4.17746035e-01 -1.18453593e-02 9.08486620e-01 1.80429615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.01420609899999 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:14.19, Y:-18.33, Z:18.07 [[ 1.37486609e-01 9.88705295e-01 5.96596300e-02 1.41910740e+01] [-8.97397843e-01 1.49831425e-01 -4.15003199e-01 -1.83290157e+01] [-4.19254748e-01 3.51895911e-03 9.07861814e-01 1.80669547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04420609899999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:14.20, Y:-18.35, Z:18.09 [[ 1.28074430e-01 9.89843106e-01 6.17054749e-02 1.41993534e+01] [-9.01335599e-01 1.42127670e-01 -4.09137952e-01 -1.83491874e+01] [-4.13752437e-01 -3.21723123e-03 9.10383749e-01 1.80930061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.07420609899999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:14.20, Y:-18.37, Z:18.12 [[ 1.37989732e-01 9.88714431e-01 5.83318718e-02 1.41981444e+01] [-9.00249129e-01 1.49761743e-01 -4.08806709e-01 -1.83707524e+01] [-4.12928976e-01 3.89791161e-03 9.10754889e-01 1.81180619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10420609899999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:14.20, Y:-18.39, Z:18.14 [[ 1.42071257e-01 9.88215610e-01 5.69707545e-02 1.42008182e+01] [-8.97683552e-01 1.52880914e-01 -4.13269484e-01 -1.83914739e+01] [-4.17109096e-01 7.57200595e-03 9.08824882e-01 1.81424038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.13420609899999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:14.22, Y:-18.41, Z:18.17 [[ 1.18838892e-01 9.91020730e-01 6.12799389e-02 1.42169884e+01] [-9.02086147e-01 1.33549660e-01 -4.10371870e-01 -1.84103156e+01] [-4.14870945e-01 -6.51164579e-03 9.09856965e-01 1.81668830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.16420609899999 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:14.21, Y:-18.43, Z:18.19 [[ 1.42856568e-01 9.88307804e-01 5.32886931e-02 1.42062878e+01] [-8.97840586e-01 1.52060884e-01 -4.13230891e-01 -1.84345206e+01] [-4.16502440e-01 1.11879953e-02 9.09065755e-01 1.81872643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.19420609899999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:14.23, Y:-18.45, Z:18.21 [[ 1.03157426e-01 9.92625090e-01 6.36708451e-02 1.42306025e+01] [-9.01737949e-01 1.20344237e-01 -4.15193853e-01 -1.84513511e+01] [-4.19794255e-01 -1.45840883e-02 9.07502115e-01 1.82118408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22420609899999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:14.22, Y:-18.48, Z:18.23 [[ 1.24306459e-01 9.90711500e-01 5.51237538e-02 1.42216702e+01] [-8.99307183e-01 1.35964477e-01 -4.15644381e-01 -1.84782646e+01] [-4.19278540e-01 2.09409359e-03 9.07855231e-01 1.82326472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.25420609899999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:14.24, Y:-18.50, Z:18.26 [[ 1.04412634e-01 9.92777474e-01 5.90837492e-02 1.42350014e+01] [-9.00802969e-01 1.19582667e-01 -4.17437417e-01 -1.84965143e+01] [-4.21487856e-01 -9.63707660e-03 9.06782837e-01 1.82582155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28420609899999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:14.25, Y:-18.51, Z:18.28 [[ 0.07885425 0.99473343 0.06547828 14.25175227] [ -0.90403667 0.09903615 -0.41582394 -18.51422876] [ -0.42011869 -0.02640528 0.90708492 18.28352845] [ 0. 0. 0. 1. ]] SLAMing on 46.31420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.24, Y:-18.54, Z:18.31 [[ 1.03797347e-01 9.92824965e-01 5.93691727e-02 1.42406331e+01] [-8.97799674e-01 1.19214854e-01 -4.23961749e-01 -1.85350328e+01] [-4.27997496e-01 -9.29551901e-03 9.03732116e-01 1.83089920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.34420609899999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:14.24, Y:-18.56, Z:18.33 [[ 1.04574222e-01 9.92698524e-01 6.01154987e-02 1.42436132e+01] [-8.98039425e-01 1.20228514e-01 -4.23166983e-01 -1.85553749e+01] [-4.27304836e-01 -9.73372989e-03 9.04055215e-01 1.83325895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.37420609899999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:14.24, Y:-18.58, Z:18.36 [[ 1.16640931e-01 9.91455627e-01 5.84006217e-02 1.42409384e+01] [-8.98032041e-01 1.30399084e-01 -4.20160128e-01 -1.85786251e+01] [-4.24185510e-01 -3.43776098e-03 9.05568791e-01 1.83573435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40420609899999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:14.24, Y:-18.60, Z:18.38 [[ 1.25474582e-01 9.90526109e-01 5.58046328e-02 1.42392626e+01] [-8.96844873e-01 1.37297718e-01 -4.20498049e-01 -1.86003529e+01] [-4.24176145e-01 2.71371818e-03 9.05575636e-01 1.83831965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.43420609899999 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:14.24, Y:-18.62, Z:18.41 [[ 1.33172054e-01 9.89561033e-01 5.50832693e-02 1.42371127e+01] [-8.96296007e-01 1.43968369e-01 -4.19436021e-01 -1.86225936e+01] [-4.22987791e-01 6.48624206e-03 9.06112166e-01 1.84084900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46420609899999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:14.24, Y:-18.64, Z:18.43 [[ 1.35531756e-01 9.89242468e-01 5.50498245e-02 1.42380075e+01] [-8.95690624e-01 1.46086783e-01 -4.19996379e-01 -1.86438490e+01] [-4.23520306e-01 7.61523512e-03 9.05854601e-01 1.84333013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.49420609899999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:14.24, Y:-18.66, Z:18.46 [[ 1.35071355e-01 9.89317758e-01 5.48279361e-02 1.42411651e+01] [-8.95760186e-01 1.45575746e-01 -4.20025465e-01 -1.86649736e+01] [-4.23520270e-01 7.62072637e-03 9.05854572e-01 1.84591182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.52420609899999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:14.24, Y:-18.69, Z:18.48 [[ 1.36724037e-01 9.89126766e-01 5.41735957e-02 1.42429603e+01] [-8.95661164e-01 1.46797266e-01 -4.19811437e-01 -1.86860330e+01] [-4.23199265e-01 8.87712849e-03 9.05993145e-01 1.84847924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.55420609899999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:14.24, Y:-18.71, Z:18.51 [[ 1.39861018e-01 9.88688160e-01 5.41721127e-02 1.42435951e+01] [-8.94911407e-01 1.49630298e-01 -4.20409737e-01 -1.87065065e+01] [-4.23759919e-01 1.03196924e-02 9.05715758e-01 1.85106054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58420609899999 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:14.24, Y:-18.73, Z:18.54 [[ 1.47710388e-01 9.87586377e-01 5.34302223e-02 1.42433661e+01] [-8.94151031e-01 1.56433967e-01 -4.19550174e-01 -1.87276922e+01] [-4.22700338e-01 1.41972307e-02 9.06158299e-01 1.85355020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.61420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.24, Y:-18.75, Z:18.56 [[ 1.55647273e-01 9.86376245e-01 5.32525103e-02 1.42428899e+01] [-8.93199913e-01 1.63557690e-01 -4.18858922e-01 -1.87488894e+01] [-4.21862349e-01 1.76291117e-02 9.06488485e-01 1.85609112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64420609899999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:14.24, Y:-18.77, Z:18.59 [[ 0.16058741 0.98562145 0.05255505 14.24408561] [ -0.89286805 0.16775846 -0.417904 -18.76914543] [ -0.4207117 0.02018539 0.9069698 18.5852787 ] [ 0. 0. 0. 1. ]] SLAMing on 46.67420609899999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:14.24, Y:-18.79, Z:18.61 [[ 0.17462021 0.9832359 0.05248762 14.24105138] [ -0.88803681 0.18029117 -0.42294883 -18.78915571] [ -0.42532153 0.02724447 0.90463216 18.60503838] [ 0. 0. 0. 1. ]] SLAMing on 46.70420609899999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:14.25, Y:-18.81, Z:18.63 [[ 1.62572536e-01 9.85129890e-01 5.55812043e-02 1.42479875e+01] [-8.91590522e-01 1.70798540e-01 -4.19397424e-01 -1.88108258e+01] [-4.22654127e-01 1.86268280e-02 9.06099625e-01 1.86305524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.73420609899999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:14.26, Y:-18.83, Z:18.66 [[ 1.47668992e-01 9.87212568e-01 6.00434420e-02 1.42580988e+01] [-8.93167594e-01 1.59183541e-01 -4.20609378e-01 -1.88278449e+01] [-4.24788792e-01 8.48210601e-03 9.05252747e-01 1.86573264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76420609899999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:14.25, Y:-18.85, Z:18.68 [[ 0.17851412 0.98239797 0.05501756 14.24535352] [ -0.88964236 0.18504 -0.41748852 -18.85416803] [ -0.42032032 0.02558164 0.90701511 18.67911314] [ 0. 0. 0. 1. ]] SLAMing on 46.79420609899999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:14.25, Y:-18.87, Z:18.70 [[ 0.17277202 0.98330352 0.05713162 14.25112059] [ -0.89032492 0.18071741 -0.41792674 -18.87296125] [ -0.42127351 0.02134034 0.90668253 18.7007371 ] [ 0. 0. 0. 1. ]] SLAMing on 46.82420609899999 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:14.25, Y:-18.90, Z:18.73 [[ 0.18424307 0.98142837 0.05341214 14.24859739] [ -0.88967531 0.18962319 -0.41535634 -18.89664752] [ -0.41777068 0.02900706 0.90808934 18.73008158] [ 0. 0. 0. 1. ]] SLAMing on 46.85420609899999 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:14.23, Y:-18.92, Z:18.76 [[ 0.22176577 0.9737892 0.05054238 14.23119569] [ -0.87683887 0.22182605 -0.42655223 -18.91980214] [ -0.42658357 0.05027716 0.90304965 18.75618192] [ 0. 0. 0. 1. ]] SLAMing on 46.88420609899999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:14.24, Y:-18.94, Z:18.78 [[ 0.2184353 0.9745938 0.04952716 14.23739542] [ -0.88141278 0.21882331 -0.41860229 -18.94396595] [ -0.41880489 0.04778365 0.90681817 18.77842617] [ 0. 0. 0. 1. ]] SLAMing on 46.91420609899999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:14.23, Y:-18.97, Z:18.80 [[ 0.23185737 0.97150268 0.04924127 14.23423015] [ -0.87860913 0.23087527 -0.41802225 -18.96635545] [ -0.41747833 0.05365771 0.90710126 18.80255213] [ 0. 0. 0. 1. ]] SLAMing on 46.94420609899999 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:14.22, Y:-18.99, Z:18.83 [[ 0.27347836 0.96060256 0.04952088 14.21805293] [ -0.86429905 0.26800333 -0.42563055 -18.9859771 ] [ -0.42213356 0.07359989 0.90354099 18.8309912 ] [ 0. 0. 0. 1. ]] SLAMing on 46.97420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.22, Y:-19.01, Z:18.86 [[ 0.27144483 0.96125015 0.04812336 14.22407626] [ -0.87032522 0.26650193 -0.41413855 -19.00806408] [ -0.41091571 0.07053279 0.90894081 18.85507266] [ 0. 0. 0. 1. ]] SLAMing on 47.00420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.23, Y:-19.03, Z:18.88 [[ 0.27252922 0.96096239 0.04774005 14.2260439 ] [ -0.87076744 0.26744746 -0.41259657 -19.02798276] [ -0.40925774 0.07087414 0.909662 18.88102807] [ 0. 0. 0. 1. ]] SLAMing on 47.03420609899999 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:14.22, Y:-19.05, Z:18.91 [[ 0.28594156 0.95710312 0.04680848 14.22293449] [ -0.86842827 0.27947849 -0.40954134 -19.04584602] [ -0.40505526 0.07645508 0.91108993 18.90929249] [ 0. 0. 0. 1. ]] SLAMing on 47.06420609899999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:14.22, Y:-19.06, Z:18.94 [[ 0.29307824 0.95498261 0.04597125 14.22396743] [ -0.86790556 0.28590848 -0.40619734 -19.0639587 ] [ -0.40105497 0.07914889 0.91262827 18.9374421 ] [ 0. 0. 0. 1. ]] SLAMing on 47.09420609899999 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:14.22, Y:-19.08, Z:18.96 [[ 0.29633443 0.95377753 0.04994331 14.22454624] [ -0.86700439 0.29057177 -0.40481036 -19.08239662] [ -0.40061114 0.07665818 0.91303573 18.96140052] [ 0. 0. 0. 1. ]] SLAMing on 47.12420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.23, Y:-19.10, Z:18.99 [[ 0.28941024 0.95597176 0.04857679 14.2290933 ] [ -0.86913259 0.28370621 -0.40511643 -19.1027363 ] [ -0.40106141 0.07502517 0.9129737 18.98976583] [ 0. 0. 0. 1. ]] SLAMing on 47.15420609899999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:14.22, Y:-19.12, Z:19.02 [[ 0.30212307 0.9522302 0.04448936 14.22377454] [ -0.86702479 0.29388814 -0.40236522 -19.12456741] [ -0.39621921 0.08299044 0.91439758 19.01540131] [ 0. 0. 0. 1. ]] SLAMing on 47.18420609899999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:14.22, Y:-19.14, Z:19.04 [[ 0.31034669 0.94960022 0.04409484 14.21908032] [ -0.86369678 0.30104234 -0.40422937 -19.14482062] [ -0.39713071 0.08736667 0.91359415 19.04190206] [ 0. 0. 0. 1. ]] SLAMing on 47.21420609899999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:14.22, Y:-19.16, Z:19.07 [[ 0.3049262 0.95137585 0.04363486 14.22225457] [ -0.865486 0.29593501 -0.40417379 -19.16484341] [ -0.39743426 0.08547782 0.91364082 19.06771788] [ 0. 0. 0. 1. ]] SLAMing on 47.24420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.22, Y:-19.19, Z:19.09 [[ 0.31360809 0.94855939 0.04341727 14.21847278] [ -0.86335675 0.30387716 -0.40283221 -19.1863754 ] [ -0.39530379 0.08884684 0.91424349 19.09284862] [ 0. 0. 0. 1. ]] SLAMing on 47.27420609899999 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:14.22, Y:-19.22, Z:19.11 [[ 0.32386691 0.94526462 0.03981248 14.21660402] [ -0.86696208 0.3133609 -0.38753283 -19.2161441 ] [ -0.37879675 0.09099315 0.9209958 19.10517041] [ 0. 0. 0. 1. ]] SLAMing on 47.30420609899999 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:14.24, Y:-19.23, Z:19.13 [[ 0.28926035 0.95599832 0.04894556 14.23797628] [ -0.87795662 0.28532869 -0.38442127 -19.23170886] [ -0.38147166 0.06822575 0.92185933 19.13100119] [ 0. 0. 0. 1. ]] SLAMing on 47.33420609899999 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:14.23, Y:-19.26, Z:19.15 [[ 0.29834237 0.9533391 0.04622119 14.23235968] [ -0.87853079 0.2932149 -0.37710566 -19.25909897] [ -0.37306231 0.07189985 0.92501618 19.14777708] [ 0. 0. 0. 1. ]] SLAMing on 47.36420609899999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:14.24, Y:-19.27, Z:19.17 [[ 0.28088379 0.95835941 0.05149318 14.24184257] [ -0.88483855 0.27936889 -0.37284549 -19.27444988] [ -0.37170557 0.0591631 0.92646354 19.16643564] [ 0. 0. 0. 1. ]] SLAMing on 47.39420609899999 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:14.22, Y:-19.30, Z:19.19 [[ 0.31879326 0.94703176 0.03875188 14.2226305 ] [ -0.87502145 0.3097745 -0.37199088 -19.30385915] [ -0.36429152 0.08467946 0.92742713 19.19080613] [ 0. 0. 0. 1. ]] SLAMing on 47.42420609899999 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:14.24, Y:-19.32, Z:19.21 [[ 0.28387391 0.95753284 0.05046247 14.2422258 ] [ -0.8866965 0.28217557 -0.36625984 -19.31546408] [ -0.3649451 0.05922672 0.9291433 19.21155381] [ 0. 0. 0. 1. ]] SLAMing on 47.45420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.23, Y:-19.34, Z:19.24 [[ 0.30626696 0.95098503 0.04275533 14.23220151] [ -0.88125972 0.30022317 -0.36503061 -19.34460963] [ -0.35997479 0.07411826 0.93001324 19.23561256] [ 0. 0. 0. 1. ]] SLAMing on 47.48420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.28, Y:-19.35, Z:19.26 [[ 0.22323106 0.97270343 0.06337145 14.27684614] [ -0.89996614 0.2306406 -0.36995386 -19.34883924] [ -0.37447142 0.02555303 0.92688629 19.2648783 ] [ 0. 0. 0. 1. ]] SLAMing on 47.51420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.27, Y:-19.37, Z:19.29 [[ 0.24241738 0.96855749 0.05594824 14.26844007] [ -0.89579011 0.24560395 -0.37045752 -19.37187234] [ -0.37255051 0.03968746 0.92716289 19.28801006] [ 0. 0. 0. 1. ]] SLAMing on 47.54420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.27, Y:-19.39, Z:19.31 [[ 0.24107615 0.96887395 0.05626339 14.26966397] [ -0.89791691 0.24466867 -0.36589952 -19.39308601] [ -0.3682764 0.03768979 0.92895208 19.30995193] [ 0. 0. 0. 1. ]] SLAMing on 47.57420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.26, Y:-19.41, Z:19.33 [[ 0.25653982 0.96528178 0.04917722 14.26316297] [ -0.89100228 0.25590376 -0.37500428 -19.41118377] [ -0.37456943 0.05238652 0.92571777 19.33423601] [ 0. 0. 0. 1. ]] SLAMing on 47.60420609899999 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:14.30, Y:-19.43, Z:19.36 [[ 1.87133991e-01 9.80119644e-01 6.59268730e-02 1.43016555e+01] [-9.08422685e-01 1.98203545e-01 -3.68080942e-01 -1.94258433e+01] [-3.73830302e-01 8.99098882e-03 9.27453539e-01 1.93597722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.63420609899999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:14.31, Y:-19.44, Z:19.38 [[ 1.70237262e-01 9.83047373e-01 6.80965259e-02 1.43129770e+01] [-9.12284202e-01 1.83351611e-01 -3.66223595e-01 -1.94441037e+01] [-3.72500751e-01 2.21517401e-04 9.28031865e-01 1.93838791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.66420609899999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:14.33, Y:-19.46, Z:19.41 [[ 1.50051069e-01 9.86416570e-01 6.68358266e-02 1.43260442e+01] [-9.15424356e-01 1.64151964e-01 -3.67494737e-01 -1.94622814e+01] [-3.73474130e-01 -6.04016554e-03 9.27620931e-01 1.94088141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.69420609899999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:14.34, Y:-19.48, Z:19.43 [[ 1.30008040e-01 9.89494368e-01 6.32361079e-02 1.43393974e+01] [-9.18521690e-01 1.44209482e-01 -3.68132491e-01 -1.94802050e+01] [-3.73384273e-01 -1.02235530e-02 9.27620431e-01 1.94335583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72420609899999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:14.35, Y:-19.50, Z:19.46 [[ 0.10728162 0.99185004 0.06873245 14.3517073 ] [ -0.92281516 0.12506493 -0.36437747 -19.50038904] [ -0.37000383 -0.02433635 0.92871142 19.45623206] [ 0. 0. 0. 1. ]] SLAMing on 47.75420609899999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:14.34, Y:-19.52, Z:19.48 [[ 1.32923149e-01 9.89755608e-01 5.21082761e-02 1.43414834e+01] [-9.20208345e-01 1.42771113e-01 -3.64462632e-01 -1.95220850e+01] [-3.68168491e-01 4.95050173e-04 9.29758956e-01 1.94803262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78420609899999 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:14.39, Y:-19.54, Z:19.51 [[ 0.04151899 0.99632237 0.07495265 14.39133409] [ -0.92955966 0.06602339 -0.36271166 -19.53550511] [ -0.36632637 -0.05461354 0.92888231 19.50557814] [ 0. 0. 0. 1. ]] SLAMing on 47.81420609899999 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:14.40, Y:-19.55, Z:19.53 [[ 0.03459674 0.99677227 0.07244387 14.39768011] [ -0.93034727 0.05859842 -0.36196709 -19.55446981] [ -0.36504386 -0.05487508 0.92937167 19.52949481] [ 0. 0. 0. 1. ]] SLAMing on 47.84420609899999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:14.40, Y:-19.57, Z:19.55 [[ 0.03644151 0.99730809 0.06362846 14.39960294] [ -0.9298412 0.05716721 -0.36349313 -19.57422749] [ -0.36615211 -0.04591812 0.92942141 19.55403106] [ 0. 0. 0. 1. ]] SLAMing on 47.87420609899999 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:14.36, Y:-19.60, Z:19.57 [[ 1.16900893e-01 9.92546198e-01 3.44416303e-02 1.43597071e+01] [-9.26365275e-01 1.21476762e-01 -3.56497929e-01 -1.95995910e+01] [-3.58024521e-01 9.76939600e-03 9.33661074e-01 1.95743418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90420609899999 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:14.49, Y:-19.67, Z:19.68 [[ -0.09381375 0.99233912 0.0803869 14.489651 ] [ -0.9339111 -0.05973663 -0.3524792 -19.67439169] [ -0.34497685 -0.10814161 0.93236064 19.67825425] [ 0. 0. 0. 1. ]] SLAMing on 47.93420609899999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:14.39, Y:-19.70, Z:19.70 [[ 9.78985458e-02 9.95091502e-01 1.44491087e-02 1.43932431e+01] [-9.36053725e-01 9.70014368e-02 -3.38222036e-01 -1.96984191e+01] [-3.37963458e-01 1.95863034e-02 9.40955407e-01 1.96999757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96420609899999 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:14.44, Y:-20.64, Z:19.30 [[ 0.12359845 -0.98251343 0.13925078 14.43761314] [ 0.60140968 -0.03745243 -0.79806248 -20.63786962] [ 0.78932238 0.18238605 0.58626402 19.29917467] [ 0. 0. 0. 1. ]] SLAMing on 47.99420609899999 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:14.48, Y:-19.84, Z:19.91 [[-4.01133030e-03 9.72335126e-01 2.33555799e-01 1.44833659e+01] [-9.28906073e-01 8.28625061e-02 -3.60925632e-01 -1.98399583e+01] [-3.70293689e-01 -2.18399192e-01 9.02875615e-01 1.99120078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02420609899999 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:14.41, Y:-19.87, Z:19.95 [[ 0.15806342 0.97103809 0.17916747 14.40840442] [ -0.90706113 0.21449082 -0.36226205 -19.86980464] [ -0.39020003 -0.10525547 0.91469406 19.9464745 ] [ 0. 0. 0. 1. ]] SLAMing on 48.05420609899999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:14.39, Y:-19.89, Z:19.97 [[ 0.21375339 0.96503712 0.15169985 14.38848718] [ -0.89176534 0.25615958 -0.37301053 -19.89395177] [ -0.39882838 -0.0555484 0.91534163 19.97489762] [ 0. 0. 0. 1. ]] SLAMing on 48.08420609899999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:14.48, Y:-19.89, Z:19.99 [[ 0.05279064 0.97902762 0.19676909 14.47699031] [ -0.92172952 0.12358596 -0.36761556 -19.8940429 ] [ -0.38422368 -0.16196122 0.90892284 19.98668433] [ 0. 0. 0. 1. ]] SLAMing on 48.114206098999986 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:14.40, Y:-19.93, Z:20.02 [[ 0.22199266 0.96537164 0.13702868 14.39815491] [ -0.88980623 0.25804048 -0.37637745 -19.93052491] [ -0.39870306 -0.03837594 0.91627679 20.02149882] [ 0. 0. 0. 1. ]] SLAMing on 48.14420609899999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:14.49, Y:-19.93, Z:20.04 [[ 0.06201853 0.98192869 0.17880084 14.48821004] [ -0.92026283 0.12560564 -0.3705935 -19.93055946] [ -0.38635478 -0.14156011 0.91142236 20.03610201] [ 0. 0. 0. 1. ]] SLAMing on 48.17420609899999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:14.45, Y:-19.96, Z:20.06 [[ 0.14739051 0.97946661 0.13755437 14.45325647] [ -0.90964819 0.18884226 -0.36997132 -19.96060222] [ -0.38835063 -0.07059582 0.91880358 20.0638729 ] [ 0. 0. 0. 1. ]] SLAMing on 48.20420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.44, Y:-19.98, Z:20.09 [[ 0.19318734 0.97312714 0.12530852 14.43738629] [ -0.8983891 0.2267828 -0.37612044 -19.98222267] [ -0.39443083 -0.0399141 0.91805838 20.09270383] [ 0. 0. 0. 1. ]] SLAMing on 48.23420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.45, Y:-20.01, Z:20.12 [[ 2.01311030e-01 9.74468261e-01 9.94257353e-02 1.44457476e+01] [-8.97096599e-01 2.24174432e-01 -3.80740747e-01 -2.00052391e+01] [-3.93308482e-01 -1.25471771e-02 9.19320949e-01 2.01217605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.46, Y:-20.03, Z:20.15 [[ 1.90933343e-01 9.76984801e-01 9.51060319e-02 1.44584890e+01] [-9.00460529e-01 2.12898618e-01 -3.79269053e-01 -2.00251596e+01] [-3.90788043e-01 -1.32241195e-02 9.20385695e-01 2.01492485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.29420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.47, Y:-20.04, Z:20.18 [[ 0.17835762 0.97904491 0.0982834 14.47052439] [ -0.90320446 0.20253004 -0.37842209 -20.04393005] [ -0.39039757 -0.02127554 0.92040051 20.1752098 ] [ 0. 0. 0. 1. ]] SLAMing on 48.32420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.48, Y:-20.06, Z:20.20 [[ 0.17569889 0.97956984 0.09784086 14.4773297 ] [ -0.90357234 0.19991615 -0.37893344 -20.06353367] [ -0.39075174 -0.02182811 0.92023726 20.2014434 ] [ 0. 0. 0. 1. ]] SLAMing on 48.35420609899999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:14.49, Y:-20.08, Z:20.22 [[ 0.14771895 0.98173724 0.11987951 14.49351632] [ -0.90826829 0.18262931 -0.3764243 -20.0764343 ] [ -0.39144326 -0.05327775 0.91865862 20.2212885 ] [ 0. 0. 0. 1. ]] SLAMing on 48.38420609899999 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:14.49, Y:-20.10, Z:20.25 [[ 0.17626807 0.97881183 0.10419679 14.48579375] [ -0.90235936 0.20297305 -0.38019669 -20.09931866] [ -0.39329016 -0.02700642 0.91901769 20.24808245] [ 0. 0. 0. 1. ]] SLAMing on 48.41420609899999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:14.50, Y:-20.12, Z:20.28 [[ 1.71625056e-01 9.80716419e-01 9.34887461e-02 1.44970782e+01] [-9.03660200e-01 1.94510210e-01 -3.81528532e-01 -2.01191174e+01] [-3.92355811e-01 -1.90022033e-02 9.19617221e-01 2.02773393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.44420609899999 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:14.50, Y:-20.14, Z:20.30 [[ 0.16921067 0.98100209 0.0948823 14.50412717] [ -0.90405368 0.19283163 -0.38144844 -20.13800832] [ -0.39249803 -0.02123355 0.91950771 20.303033 ] [ 0. 0. 0. 1. ]] SLAMing on 48.47420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.51, Y:-20.16, Z:20.33 [[ 0.17022157 0.98080445 0.09511706 14.50924324] [ -0.90329745 0.19388414 -0.38270439 -20.1583927 ] [ -0.39379985 -0.02077445 0.91896142 20.32911841] [ 0. 0. 0. 1. ]] SLAMing on 48.50420609899999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:14.52, Y:-20.18, Z:20.35 [[ 0.16903969 0.98103481 0.09484874 14.51542652] [ -0.90294852 0.19272172 -0.38411237 -20.17892345] [ -0.39510702 -0.02071329 0.91840155 20.35465362] [ 0. 0. 0. 1. ]] SLAMing on 48.53420609899999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:14.52, Y:-20.20, Z:20.38 [[ 0.16491773 0.98174314 0.09477629 14.52302463] [ -0.90305883 0.18893783 -0.38572949 -20.19770843] [ -0.39659411 -0.02197493 0.91773101 20.38056633] [ 0. 0. 0. 1. ]] SLAMing on 48.56420609899999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:14.53, Y:-20.22, Z:20.41 [[ 0.16552143 0.98167847 0.09439302 14.52786145] [ -0.90284331 0.18934786 -0.38603283 -20.21823774] [ -0.39683323 -0.0213254 0.91764297 20.40573601] [ 0. 0. 0. 1. ]] SLAMing on 48.59420609899999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:14.53, Y:-20.24, Z:20.43 [[ 0.16325476 0.98209323 0.09402536 14.53417734] [ -0.90314351 0.18712601 -0.38641384 -20.23766686] [ -0.39708901 -0.0218345 0.91752034 20.43140908] [ 0. 0. 0. 1. ]] SLAMing on 48.62420609899999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:14.54, Y:-20.26, Z:20.46 [[ 0.16333081 0.98213493 0.09345603 14.54012116] [ -0.90338379 0.18695821 -0.38593311 -20.25729468] [ -0.39651076 -0.02139189 0.91778081 20.45688737] [ 0. 0. 0. 1. ]] SLAMing on 48.65420609899999 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:14.55, Y:-20.28, Z:20.48 [[ 0.16271309 0.98229097 0.09289185 14.5452888 ] [ -0.90373578 0.18615577 -0.38549666 -20.27724876] [ -0.39596224 -0.02122433 0.91802148 20.48270001] [ 0. 0. 0. 1. ]] SLAMing on 48.68420609899999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:14.55, Y:-20.30, Z:20.51 [[ 0.16222055 0.98241429 0.09244809 14.55045187] [ -0.9042151 0.18550787 -0.38468414 -20.2974438 ] [ -0.39506904 -0.02118928 0.91840703 20.50879327] [ 0. 0. 0. 1. ]] SLAMing on 48.71420609899999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:14.56, Y:-20.32, Z:20.54 [[ 0.16025603 0.98281212 0.09164246 14.55644715] [ -0.90512092 0.18335519 -0.38358441 -20.31712229] [ -0.39379453 -0.02147579 0.91894758 20.53502001] [ 0. 0. 0. 1. ]] SLAMing on 48.74420609899999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:14.56, Y:-20.33, Z:20.56 [[ 1.63434400e-01 9.82232380e-01 9.22428756e-02 1.45589053e+01] [-9.02683061e-01 1.86611030e-01 -3.87736529e-01 -2.03348343e+01] [-3.98060911e-01 -1.98965946e-02 9.17143193e-01 2.05622317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.77420609899999 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:14.57, Y:-20.36, Z:20.59 [[ 0.16020216 0.9828981 0.09081078 14.56673274] [ -0.90562342 0.18295484 -0.38258821 -20.35657153] [ -0.3926595 -0.02094892 0.9194453 20.58645422] [ 0. 0. 0. 1. ]] SLAMing on 48.80420609899999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:14.55, Y:-20.38, Z:20.61 [[ 1.94667533e-01 9.77037792e-01 8.66123761e-02 1.45521808e+01] [-8.95961488e-01 2.13058960e-01 -3.89690764e-01 -2.03801368e+01] [-3.99196147e-01 -1.74121368e-03 9.16863896e-01 2.06108750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.83420609899999 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:14.59, Y:-20.39, Z:20.64 [[ 0.1440606 0.98469046 0.09813886 14.58507228] [ -0.90823723 0.17094214 -0.38194754 -20.39375572] [ -0.39287617 -0.03410978 0.91895856 20.63585129] [ 0. 0. 0. 1. ]] SLAMing on 48.864206098999986 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:14.56, Y:-20.42, Z:20.66 [[ 1.95439400e-01 9.77029817e-01 8.49480814e-02 1.45628310e+01] [-8.96839563e-01 2.13102219e-01 -3.87641899e-01 -2.04196470e+01] [-3.96840318e-01 -4.24299919e-04 9.17887565e-01 2.06601103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.89420609899999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:14.58, Y:-20.44, Z:20.68 [[ 1.68349714e-01 9.81337288e-01 9.29274007e-02 1.45816802e+01] [-9.03394689e-01 1.91318992e-01 -3.83764353e-01 -2.04350535e+01] [-3.94381046e-01 -1.93435013e-02 9.18743391e-01 2.06842430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.92420609899999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:14.59, Y:-20.45, Z:20.70 [[ 0.16444443 0.98199035 0.09302137 14.58926311] [ -0.90477165 0.18772684 -0.38229164 -20.45233118] [ -0.39286931 -0.02129737 0.91934766 20.70497741] [ 0. 0. 0. 1. ]] SLAMing on 48.95420609899999 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:14.60, Y:-20.47, Z:20.73 [[ 1.63923801e-01 9.82275140e-01 9.09095008e-02 1.45956235e+01] [-9.05452966e-01 1.86395534e-01 -3.81328769e-01 -2.04714460e+01] [-3.91514895e-01 -1.98054160e-02 9.19958604e-01 2.07307675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.98420609899999 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:14.61, Y:-20.49, Z:20.76 [[ 0.15400217 0.98370445 0.09278405 14.60551395] [ -0.90877925 0.17787539 -0.37746606 -20.49080498] [ -0.38781905 -0.02618963 0.92136339 20.7570287 ] [ 0. 0. 0. 1. ]] SLAMing on 49.01420609899999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:14.60, Y:-20.51, Z:20.79 [[ 1.71272947e-01 9.81198472e-01 8.89670490e-02 1.46004013e+01] [-9.02097771e-01 1.92485179e-01 -3.86224116e-01 -2.05083564e+01] [-3.96087351e-01 -1.41072341e-02 9.18104458e-01 2.07868251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04420609899999 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:14.59, Y:-20.53, Z:20.81 [[ 1.97890635e-01 9.76749937e-01 8.24551827e-02 1.45924573e+01] [-8.97463657e-01 2.14369634e-01 -3.85492730e-01 -2.05343216e+01] [-3.94205887e-01 2.28487149e-03 9.19019313e-01 2.08074986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.07420609899999 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:14.62, Y:-20.55, Z:20.83 [[ 0.16087361 0.98262557 0.09255632 14.61807101] [ -0.90499536 0.18428116 -0.38343689 -20.54732337] [ -0.39383128 -0.02207817 0.91891756 20.83388741] [ 0. 0. 0. 1. ]] SLAMing on 49.10420609899999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:14.61, Y:-20.57, Z:20.86 [[ 1.79081372e-01 9.79993162e-01 8.68519665e-02 1.46137851e+01] [-9.01523553e-01 1.98805850e-01 -3.84358579e-01 -2.05691908e+01] [-3.93935458e-01 -9.46763173e-03 9.19089342e-01 2.08574205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.13420609899999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:14.62, Y:-20.59, Z:20.88 [[ 1.72306301e-01 9.81093746e-01 8.81226424e-02 1.46233474e+01] [-9.03287159e-01 1.93055969e-01 -3.83147102e-01 -2.05885599e+01] [-3.92915828e-01 -1.35813914e-02 9.19474142e-01 2.08825345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.16420609899999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:14.64, Y:-20.60, Z:20.91 [[ 0.14746177 0.98471297 0.09271131 14.64042664] [ -0.90797466 0.17194702 -0.38212071 -20.60386867] [ -0.39222065 -0.02783132 0.91945004 20.90963689] [ 0. 0. 0. 1. ]] SLAMing on 49.19420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.63, Y:-20.63, Z:20.94 [[ 1.69188925e-01 9.81806338e-01 8.62056959e-02 1.46323139e+01] [-9.04199411e-01 1.89427000e-01 -3.82806526e-01 -2.06257781e+01] [-3.92171560e-01 -1.31805147e-02 9.19797663e-01 2.09359869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22420609899999 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:14.64, Y:-20.65, Z:20.96 [[ 1.68231266e-01 9.82003348e-01 8.58351100e-02 1.46378021e+01] [-9.04430321e-01 1.88398973e-01 -3.82768364e-01 -2.06451170e+01] [-3.92051062e-01 -1.32382696e-02 9.19848201e-01 2.09626469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.25420609899999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:14.63, Y:-20.67, Z:20.99 [[ 1.84758828e-01 9.79314400e-01 8.25074654e-02 1.46341009e+01] [-9.00911178e-01 2.02316101e-01 -3.83962557e-01 -2.06676419e+01] [-3.92712650e-01 -3.39142576e-03 9.19654975e-01 2.09867766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:14.65, Y:-20.69, Z:21.01 [[ 1.58045025e-01 9.83531237e-01 8.76816699e-02 1.46535754e+01] [-9.08587710e-01 1.79620699e-01 -3.77100487e-01 -2.06868678e+01] [-3.86639551e-01 -2.00676317e-02 9.22012553e-01 2.10125400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.31420609899999 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:14.65, Y:-20.71, Z:21.04 [[ 1.78241658e-01 9.80490361e-01 8.28768003e-02 1.46468034e+01] [-9.02569279e-01 1.96459140e-01 -3.83108997e-01 -2.07061833e+01] [-3.91916583e-01 -6.51607097e-03 9.19977680e-01 2.10367194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34420609899999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:14.67, Y:-20.72, Z:21.06 [[ 0.15013317 0.98472101 0.08823022 14.66649002] [ -0.90870305 0.17259903 -0.3800899 -20.72255307] [ -0.38951096 -0.02311097 0.92073182 21.0629186 ] [ 0. 0. 0. 1. ]] SLAMing on 49.37420609899999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:14.66, Y:-20.74, Z:21.09 [[ 1.74676711e-01 9.81211044e-01 8.19324958e-02 1.46578160e+01] [-9.03634583e-01 1.92801970e-01 -3.82455148e-01 -2.07444236e+01] [-3.91065962e-01 -7.23102921e-03 9.20334247e-01 2.10874171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40420609899999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:14.67, Y:-20.76, Z:21.11 [[ 1.55966662e-01 9.83981568e-01 8.63404501e-02 1.46725729e+01] [-9.08098567e-01 1.77229865e-01 -3.79402910e-01 -2.07619368e+01] [-3.88627577e-01 -1.92314335e-02 9.21194202e-01 2.11136704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.43420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.66, Y:-20.79, Z:21.14 [[ 1.87193259e-01 9.79158867e-01 7.87819598e-02 1.46607474e+01] [-9.01676880e-01 2.03095379e-01 -3.81747391e-01 -2.07864704e+01] [-3.89791595e-01 4.24666594e-04 9.20902998e-01 2.11366054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46420609899999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:14.69, Y:-20.80, Z:21.16 [[ 0.14767507 0.98510413 0.08810184 14.68602702] [ -0.90952594 0.17025662 -0.37917706 -20.79964039] [ -0.38852881 -0.02413591 0.92112042 21.16214285] [ 0. 0. 0. 1. ]] SLAMing on 49.49420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.67, Y:-20.83, Z:21.18 [[ 1.89003587e-01 9.78885871e-01 7.78466103e-02 1.46689405e+01] [-9.00774864e-01 2.04394617e-01 -3.83180747e-01 -2.08257329e+01] [-3.91001648e-01 2.30026612e-03 9.20387103e-01 2.11848925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.52420609899999 meters Centerline goodness : 0.999940 Centerline is valid? [True, True] Translation: X:14.69, Y:-20.84, Z:21.21 [[ 1.64571116e-01 9.82886120e-01 8.27721132e-02 1.46862713e+01] [-9.06266201e-01 1.83798522e-01 -3.80656901e-01 -2.08440182e+01] [-3.89355776e-01 -1.23684377e-02 9.21004398e-01 2.12086873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.55420609899999 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:14.69, Y:-20.86, Z:21.23 [[ 1.65415304e-01 9.82731776e-01 8.29218521e-02 1.46896506e+01] [-9.07050788e-01 1.84604782e-01 -3.78391257e-01 -2.08640026e+01] [-3.87164882e-01 -1.26226266e-02 9.21924088e-01 2.12339211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58420609899999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:14.70, Y:-20.88, Z:21.26 [[ 0.14161866 0.98624448 0.08524078 14.70274046] [ -0.91154502 0.1635019 -0.3772967 -20.87873055] [ -0.38604381 -0.02426855 0.92216116 21.26115915] [ 0. 0. 0. 1. ]] SLAMing on 49.614206098999986 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:14.71, Y:-20.90, Z:21.29 [[ 0.14158248 0.98628965 0.08477688 14.70677976] [ -0.91221557 0.1632496 -0.37578227 -20.89583176] [ -0.38446996 -0.02413061 0.92282207 21.28931645] [ 0. 0. 0. 1. ]] SLAMing on 49.64420609899999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:14.71, Y:-20.92, Z:21.31 [[ 1.53408045e-01 9.84883560e-01 8.04384559e-02 1.47062289e+01] [-9.10441159e-01 1.72517285e-01 -3.75945052e-01 -2.09183985e+01] [-3.84139125e-01 -1.55614854e-02 9.23144069e-01 2.13141639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.67420609899999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:14.69, Y:-20.94, Z:21.34 [[ 1.84341267e-01 9.80091193e-01 7.37533121e-02 1.46931113e+01] [-9.03593126e-01 1.98519832e-01 -3.79617360e-01 -2.09394552e+01] [-3.86701126e-01 3.33615921e-03 9.22199062e-01 2.13415586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.70420609899999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:14.71, Y:-20.95, Z:21.37 [[ 1.51942549e-01 9.84890813e-01 8.30875949e-02 1.47147633e+01] [-9.09328158e-01 1.72237969e-01 -3.78756364e-01 -2.09546373e+01] [-3.87344502e-01 -1.80046824e-02 9.21759225e-01 2.13661210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.73420609899999 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:14.72, Y:-20.97, Z:21.39 [[ 1.54690500e-01 9.84520362e-01 8.24045265e-02 1.47187400e+01] [-9.09049846e-01 1.74503449e-01 -3.78387267e-01 -2.09734302e+01] [-3.86909843e-01 -1.63769065e-02 9.21972109e-01 2.13923709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76420609899999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:14.72, Y:-20.99, Z:21.42 [[ 1.56532770e-01 9.84343068e-01 8.10321922e-02 1.47216538e+01] [-9.08623207e-01 1.75680355e-01 -3.78867101e-01 -2.09929041e+01] [-3.87170969e-01 -1.43226136e-02 9.21896688e-01 2.14171478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.794206098999986 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:14.72, Y:-21.02, Z:21.44 [[ 1.73077096e-01 9.81879623e-01 7.71798185e-02 1.47177859e+01] [-9.06274735e-01 1.89451103e-01 -3.77854978e-01 -2.10153343e+01] [-3.85629905e-01 -4.54807735e-03 9.22642342e-01 2.14409276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.82420609899999 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:14.75, Y:-21.03, Z:21.47 [[ 0.12728376 0.98803919 0.08704828 14.747882 ] [ -0.91418704 0.15090933 -0.37614949 -21.02906212] [ -0.38478683 -0.03170069 0.92246093 21.46543226] [ 0. 0. 0. 1. ]] SLAMing on 49.85420609899999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:14.75, Y:-21.05, Z:21.49 [[ 0.13742467 0.98700869 0.08323645 14.74740963] [ -0.91359373 0.15877253 -0.37434982 -21.04952155] [ -0.38270219 -0.0245994 0.92354421 21.48829945] [ 0. 0. 0. 1. ]] SLAMing on 49.88420609899999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:14.77, Y:-21.06, Z:21.51 [[ 0.10992957 0.98989956 0.08952295 14.76686405] [ -0.91695367 0.1357594 -0.37518709 -21.06258162] [ -0.38355112 -0.04084424 0.922616 21.51447514] [ 0. 0. 0. 1. ]] SLAMing on 49.91420609899999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:14.75, Y:-21.09, Z:21.54 [[ 1.62581019e-01 9.83864152e-01 7.46909839e-02 1.47456071e+01] [-9.10111957e-01 1.78772090e-01 -3.73813811e-01 -2.10898278e+01] [-3.81134671e-01 -7.20212725e-03 9.24491477e-01 2.15385339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.94420609899999 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:14.77, Y:-21.11, Z:21.57 [[ 0.12929241 0.98824387 0.08159369 14.76935502] [ -0.91811692 0.15039118 -0.36666581 -21.10930782] [ -0.37462621 -0.02750544 0.92676785 21.56600306] [ 0. 0. 0. 1. ]] SLAMing on 49.97420609899999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:14.76, Y:-21.13, Z:21.59 [[ 1.46010937e-01 9.86068379e-01 7.96866276e-02 1.47640701e+01] [-9.12263997e-01 1.65365937e-01 -3.74737918e-01 -2.11259989e+01] [-3.82694665e-01 -1.79794070e-02 9.23699916e-01 2.15895064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.00420609899999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:14.77, Y:-21.15, Z:21.62 [[ 1.46910085e-01 9.86018961e-01 7.86386428e-02 1.47680487e+01] [-9.12513148e-01 1.65781848e-01 -3.73946700e-01 -2.11472409e+01] [-3.81755396e-01 -1.68222538e-02 9.24110291e-01 2.16150098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.03420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.78, Y:-21.16, Z:21.64 [[ 0.12597647 0.98857814 0.08272363 14.78436093] [ -0.91676686 0.14787395 -0.37104153 -21.16478279] [ -0.37903621 -0.02909578 0.92492431 21.63963174] [ 0. 0. 0. 1. ]] SLAMing on 50.06420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.78, Y:-21.18, Z:21.67 [[ 1.39708619e-01 9.86986501e-01 7.96187745e-02 1.47827735e+01] [-9.14661135e-01 1.59435281e-01 -3.71450399e-01 -2.11845678e+01] [-3.79310571e-01 -2.09293764e-02 9.25032676e-01 2.16663539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.09420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.79, Y:-21.20, Z:21.69 [[ 1.42388535e-01 9.86937846e-01 7.53604266e-02 1.47867621e+01] [-9.15047617e-01 1.60279261e-01 -3.70132973e-01 -2.12048184e+01] [-3.77376952e-01 -1.62556869e-02 9.25917053e-01 2.16916191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.12420609899999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:14.79, Y:-21.23, Z:21.72 [[ 1.50741524e-01 9.85916927e-01 7.24210392e-02 1.47856093e+01] [-9.13428087e-01 1.66924639e-01 -3.71194415e-01 -2.12265310e+01] [-3.78055713e-01 -1.01969993e-02 9.25726687e-01 2.17167321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.15420609899999 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:14.79, Y:-21.24, Z:21.74 [[ 1.43697756e-01 9.86693172e-01 7.60758790e-02 1.47925160e+01] [-9.13846182e-01 1.61803741e-01 -3.72430805e-01 -2.12442301e+01] [-3.79784294e-01 -1.60041807e-02 9.24936623e-01 2.17418854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18420609899999 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:14.80, Y:-21.27, Z:21.77 [[ 1.47924913e-01 9.86120568e-01 7.53952657e-02 1.47959357e+01] [-9.13938807e-01 1.65432282e-01 -3.70604934e-01 -2.12672033e+01] [-3.77933959e-01 -1.40849566e-02 9.25725411e-01 2.17672507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.21420609899999 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:14.81, Y:-21.29, Z:21.79 [[ 1.35466815e-01 9.87754199e-01 7.73975703e-02 1.48072448e+01] [-9.16656901e-01 1.54595787e-01 -3.68565148e-01 -2.12863526e+01] [-3.76017111e-01 -2.10186700e-02 9.26374302e-01 2.17923171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.24420609899999 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:14.82, Y:-21.30, Z:21.82 [[ 0.12367976 0.98918105 0.07889346 14.81744674] [ -0.92064689 0.14405021 -0.36284824 -21.30459784] [ -0.37028722 -0.02775603 0.92850254 21.81535805] [ 0. 0. 0. 1. ]] SLAMing on 50.27420609899999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:14.81, Y:-21.33, Z:21.84 [[ 1.52795435e-01 9.85769448e-01 7.00867391e-02 1.48063327e+01] [-9.15453559e-01 1.67898889e-01 -3.65724958e-01 -2.13260673e+01] [-3.72287975e-01 -8.28005076e-03 9.28080333e-01 2.18414199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.30420609899999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:14.82, Y:-21.35, Z:21.87 [[ 1.42771895e-01 9.87087860e-01 7.26205400e-02 1.48163595e+01] [-9.18579775e-01 1.59468693e-01 -3.61636466e-01 -2.13453626e+01] [-3.68547668e-01 -1.50762357e-02 9.29486591e-01 2.18663848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.33420609899999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:14.82, Y:-21.36, Z:21.89 [[ 1.42866467e-01 9.87016519e-01 7.34000205e-02 1.48196796e+01] [-9.15328318e-01 1.59973242e-01 -3.69570877e-01 -2.13622091e+01] [-3.76514600e-01 -1.43858319e-02 9.26298982e-01 2.18947247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.364206098999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.82, Y:-21.38, Z:21.92 [[ 1.46682093e-01 9.86711588e-01 6.98899553e-02 1.48222906e+01] [-9.14675750e-01 1.62196334e-01 -3.70216993e-01 -2.13830327e+01] [-3.76633291e-01 -9.62244384e-03 9.26312459e-01 2.19210164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.39420609899999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:14.82, Y:-21.40, Z:21.95 [[ 1.57339327e-01 9.85248732e-01 6.72998697e-02 1.48215111e+01] [-9.14160099e-01 1.71088328e-01 -3.67478023e-01 -2.14047311e+01] [-3.73571478e-01 -3.70411068e-03 9.27594001e-01 2.19452622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.42420609899999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:14.83, Y:-21.43, Z:21.97 [[ 1.51921890e-01 9.86070105e-01 6.77162304e-02 1.48288843e+01] [-9.16680174e-01 1.66188645e-01 -3.63426461e-01 -2.14258126e+01] [-3.69617637e-01 -6.86169097e-03 9.29158609e-01 2.19713050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.45420609899999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:14.83, Y:-21.44, Z:21.99 [[ 1.58548808e-01 9.85157907e-01 6.57736588e-02 1.48286115e+01] [-9.16206309e-01 1.71626800e-01 -3.62091482e-01 -2.14430253e+01] [-3.68005810e-01 -2.85306831e-03 9.29819114e-01 2.19921609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.48420609899999 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:14.85, Y:-21.46, Z:22.02 [[ 1.32844348e-01 9.88382863e-01 7.38355971e-02 1.48454739e+01] [-9.21417357e-01 1.50602740e-01 -3.58202275e-01 -2.14572900e+01] [-3.65160833e-01 -2.04482529e-02 9.30719848e-01 2.20175219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.51420609899999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:14.85, Y:-21.48, Z:22.04 [[ 1.31936347e-01 9.88513564e-01 7.37138623e-02 1.48500031e+01] [-9.22910788e-01 1.49634001e-01 -3.54746871e-01 -2.14779597e+01] [-3.61702194e-01 -2.12273126e-02 9.32051996e-01 2.20434582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.544206098999986 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:14.84, Y:-21.50, Z:22.07 [[ 1.52346259e-01 9.85946749e-01 6.85538086e-02 1.48427953e+01] [-9.18904065e-01 1.66841655e-01 -3.57462141e-01 -2.14988826e+01] [-3.63876267e-01 -8.53635346e-03 9.31408177e-01 2.20698964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.57420609899999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:14.85, Y:-21.51, Z:22.10 [[ 1.48287062e-01 9.86490875e-01 6.96182482e-02 1.48485971e+01] [-9.16576730e-01 1.63528675e-01 -3.64891040e-01 -2.15136763e+01] [-3.71346261e-01 -9.70184605e-03 9.28443767e-01 2.20977957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.60420609899999 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:14.83, Y:-21.54, Z:22.12 [[ 0.19671285 0.97892176 0.05492035 14.82766571] [ -0.90743804 0.20298867 -0.36790189 -21.54127311] [ -0.37129538 0.02253421 0.92824132 22.12265435] [ 0. 0. 0. 1. ]] SLAMing on 50.63420609899999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:14.87, Y:-21.55, Z:22.15 [[ 0.11192737 0.99058766 0.07879314 14.87482258] [ -0.92240307 0.13306366 -0.36258329 -21.54986376] [ -0.36965503 -0.03209604 0.92861456 22.14943526] [ 0. 0. 0. 1. ]] SLAMing on 50.66420609899999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:14.86, Y:-21.58, Z:22.17 [[ 1.55550708e-01 9.85512019e-01 6.76020561e-02 1.48562922e+01] [-9.18716129e-01 1.69476305e-01 -3.56704999e-01 -2.15758889e+01] [-3.62994011e-01 -6.62138415e-03 9.31767946e-01 2.21735716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.69420609899999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:14.86, Y:-21.59, Z:22.20 [[ 1.48259607e-01 9.86579072e-01 6.84165411e-02 1.48635792e+01] [-9.17068590e-01 1.63047148e-01 -3.63869246e-01 -2.15906721e+01] [-3.70140905e-01 -8.79554936e-03 9.28933985e-01 2.22010792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72420609899999 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:14.86, Y:-21.61, Z:22.23 [[ 1.57902721e-01 9.85281946e-01 6.54692121e-02 1.48618751e+01] [-9.14662754e-01 1.70924885e-01 -3.66301420e-01 -2.16101713e+01] [-3.72100494e-01 -2.04225876e-03 9.28190202e-01 2.22256431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.75420609899999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:14.84, Y:-21.64, Z:22.25 [[ 0.21363829 0.9757548 0.04755264 14.83821843] [ -0.90571384 0.2160756 -0.36468311 -21.63978679] [ -0.36611626 0.03484119 0.92991665 22.25144536] [ 0. 0. 0. 1. ]] SLAMing on 50.78420609899999 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:14.88, Y:-21.65, Z:22.28 [[ 1.43712506e-01 9.87274886e-01 6.80809454e-02 1.48786330e+01] [-9.17125035e-01 1.58714991e-01 -3.65638101e-01 -2.16485854e+01] [-3.71790781e-01 -9.89197179e-03 9.28263844e-01 2.22779486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.81420609899999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:14.88, Y:-21.67, Z:22.30 [[ 1.46291060e-01 9.86875021e-01 6.83858057e-02 1.48802904e+01] [-9.18094046e-01 1.61187552e-01 -3.62107575e-01 -2.16684613e+01] [-3.68377861e-01 -9.81150016e-03 9.29624379e-01 2.22983419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84420609899999 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:14.87, Y:-21.69, Z:22.33 [[ 1.74721073e-01 9.82789291e-01 5.99812914e-02 1.48690393e+01] [-9.12113931e-01 1.84498329e-01 -3.66071774e-01 -2.16901786e+01] [-3.70837868e-01 9.25068168e-03 9.28651550e-01 2.23286504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.87420609899999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:14.89, Y:-21.71, Z:22.35 [[ 1.42094146e-01 9.87287779e-01 7.12186506e-02 1.48882318e+01] [-9.18157910e-01 1.58344277e-01 -3.63198489e-01 -2.17060481e+01] [-3.69858495e-01 -1.37815884e-02 9.28985878e-01 2.23537006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90420609899999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:14.87, Y:-21.73, Z:22.38 [[ 1.84567952e-01 9.81143395e-01 5.73786578e-02 1.48713655e+01] [-9.13884862e-01 1.92809036e-01 -3.57266197e-01 -2.17312808e+01] [-3.61592493e-01 1.35024034e-02 9.32238464e-01 2.23753017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.93420609899999 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:14.90, Y:-21.74, Z:22.40 [[ 0.12741079 0.98873026 0.07860643 14.90341009] [ -0.92216517 0.14726815 -0.35766393 -21.74055975] [ -0.36520937 -0.02691787 0.93053616 22.40162441] [ 0. 0. 0. 1. ]] SLAMing on 50.96420609899999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:14.87, Y:-21.77, Z:22.42 [[ 1.90831772e-01 9.79773720e-01 6.02220246e-02 1.48737613e+01] [-9.13716584e-01 1.99717397e-01 -3.53885527e-01 -2.17712574e+01] [-3.58755125e-01 1.25067395e-02 9.33347921e-01 2.24219720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.99420609899999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:14.90, Y:-21.79, Z:22.45 [[ 1.52874574e-01 9.85766578e-01 6.99543970e-02 1.48971718e+01] [-9.21146454e-01 1.67775786e-01 -3.51198657e-01 -2.17853190e+01] [-3.57936552e-01 -1.07488995e-02 9.33684040e-01 2.24473055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02420609899999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:14.91, Y:-21.80, Z:22.47 [[ 1.33497206e-01 9.88297277e-01 7.38037185e-02 1.49115062e+01] [-9.24254088e-01 1.51030889e-01 -3.50633785e-01 -2.18010671e+01] [-3.57677056e-01 -2.14047577e-02 9.33600000e-01 2.24746977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.05420609899999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:14.90, Y:-21.82, Z:22.50 [[ 1.56607549e-01 9.85370092e-01 6.72298906e-02 1.49030191e+01] [-9.17832876e-01 1.70337775e-01 -3.58563599e-01 -2.18184141e+01] [-3.64769636e-01 -5.55203751e-03 9.31081246e-01 2.25044578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08420609899999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:14.91, Y:-21.84, Z:22.53 [[ 1.57956459e-01 9.85251188e-01 6.58016305e-02 1.49065776e+01] [-9.20555457e-01 1.71038151e-01 -3.51174604e-01 -2.18411047e+01] [-3.57249784e-01 -5.10375317e-03 9.33994937e-01 2.25284469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.114206098999986 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:14.91, Y:-21.86, Z:22.55 [[ 1.59045844e-01 9.85008151e-01 6.68083983e-02 1.49098685e+01] [-9.18167180e-01 1.72446185e-01 -3.56695028e-01 -2.18572328e+01] [-3.62868363e-01 -4.61041694e-03 9.31829005e-01 2.25549904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14420609899999 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:14.91, Y:-21.88, Z:22.58 [[ 1.74199703e-01 9.82772343e-01 6.17493802e-02 1.49063508e+01] [-9.17691265e-01 1.84762934e-01 -3.51717786e-01 -2.18805027e+01] [-3.57067509e-01 4.60226721e-03 9.34067242e-01 2.25778818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.17420609899999 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:14.92, Y:-21.90, Z:22.60 [[ 1.55910940e-01 9.85596191e-01 6.55128012e-02 1.49200586e+01] [-9.21710601e-01 1.69011004e-01 -3.49120107e-01 -2.18969805e+01] [-3.55163832e-01 -5.95219933e-03 9.34785122e-01 2.26036137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.20420609899999 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:14.93, Y:-21.91, Z:22.63 [[ 1.39399871e-01 9.87774568e-01 6.97787812e-02 1.49324731e+01] [-9.23462643e-01 1.55114812e-01 -3.50936094e-01 -2.19123569e+01] [-3.57469472e-01 -1.55176512e-02 9.33795898e-01 2.26306831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.23420609899999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:14.94, Y:-21.93, Z:22.66 [[ 1.37105702e-01 9.88104998e-01 6.96458157e-02 1.49367779e+01] [-9.24296313e-01 1.52900945e-01 -3.49710776e-01 -2.19303497e+01] [-3.56199877e-01 -1.64260290e-02 9.34265398e-01 2.26562007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26420609899999 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:14.94, Y:-21.95, Z:22.68 [[ 1.44306190e-01 9.87359625e-01 6.55491800e-02 1.49363371e+01] [-9.24258899e-01 1.58151577e-01 -3.47467361e-01 -2.19494420e+01] [-3.53441949e-01 -1.04427218e-02 9.35398171e-01 2.26810822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.294206098999986 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:14.93, Y:-21.97, Z:22.71 [[ 1.67424619e-01 9.84202696e-01 5.75677830e-02 1.49284027e+01] [-9.21418475e-01 1.76978266e-01 -3.45928732e-01 -2.19739336e+01] [-3.50652237e-01 4.87296716e-03 9.36493066e-01 2.27050572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.32420609899999 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:14.94, Y:-21.99, Z:22.73 [[ 1.44030189e-01 9.87423225e-01 6.51972305e-02 1.49445569e+01] [-9.26086682e-01 1.57715458e-01 -3.42767111e-01 -2.19911419e+01] [-3.48738818e-01 -1.10094750e-02 9.37155285e-01 2.27289723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.35420609899999 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:14.94, Y:-22.01, Z:22.75 [[ 1.54187445e-01 9.86207499e-01 6.01747569e-02 1.49434182e+01] [-9.24774703e-01 1.65489685e-01 -3.42644004e-01 -2.20117852e+01] [-3.47876387e-01 -2.81668952e-03 9.37536178e-01 2.27546752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.38420609899999 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:14.97, Y:-22.03, Z:22.78 [[ 0.11602557 0.99080721 0.06956389 14.96790276] [ -0.93212342 0.13280777 -0.33690951 -22.02567605] [ -0.343051 -0.02575201 0.93896371 22.78115293] [ 0. 0. 0. 1. ]] SLAMing on 51.41420609899999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:14.95, Y:-22.04, Z:22.81 [[ 1.50283028e-01 9.86760806e-01 6.09764153e-02 1.49525157e+01] [-9.23588110e-01 1.62130352e-01 -3.47417261e-01 -2.20428012e+01] [-3.52703864e-01 -4.10617439e-03 9.35725988e-01 2.28108208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44420609899999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:14.94, Y:-22.07, Z:22.83 [[ 1.74399322e-01 9.83159001e-01 5.46191787e-02 1.49435161e+01] [-9.20992853e-01 1.82493399e-01 -3.44192278e-01 -2.20662882e+01] [-3.48363376e-01 9.72302662e-03 9.37309139e-01 2.28345764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.474206098999986 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:14.95, Y:-22.09, Z:22.86 [[ 1.62579431e-01 9.84990721e-01 5.79759234e-02 1.49537307e+01] [-9.22539773e-01 1.72587252e-01 -3.45157945e-01 -2.20866631e+01] [-3.49983278e-01 2.63048709e-03 9.36752254e-01 2.28615355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50420609899999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:14.96, Y:-22.11, Z:22.89 [[ 1.53980474e-01 9.86352642e-01 5.82964734e-02 1.49626001e+01] [-9.24362456e-01 1.64644063e-01 -3.44160402e-01 -2.21050225e+01] [-3.49061690e-01 -8.93089660e-04 9.37099322e-01 2.28872978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.53420609899999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:14.97, Y:-22.12, Z:22.91 [[ 1.41603941e-01 9.88016501e-01 6.14143048e-02 1.49723682e+01] [-9.27130457e-01 1.54110208e-01 -3.41583313e-01 -2.21224804e+01] [-3.46954521e-01 -8.56952896e-03 9.37842803e-01 2.29116560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.56420609899999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:14.98, Y:-22.14, Z:22.94 [[ 1.38938957e-01 9.88391801e-01 6.14622984e-02 1.49772740e+01] [-9.28118062e-01 1.51609877e-01 -3.40016631e-01 -2.21399513e+01] [-3.45387942e-01 -9.80271322e-03 9.38408800e-01 2.29365829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.59420609899999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:14.99, Y:-22.16, Z:22.96 [[ 1.31261269e-01 9.89443098e-01 6.14234062e-02 1.49853331e+01] [-9.29867846e-01 1.44364460e-01 -3.38385419e-01 -2.21584900e+01] [-3.43680474e-01 -1.26987509e-02 9.39000784e-01 2.29621047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.62420609899999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:14.99, Y:-22.18, Z:22.99 [[ 1.20040201e-01 9.90745053e-01 6.33607899e-02 1.49947521e+01] [-9.33037861e-01 1.34391572e-01 -3.33735308e-01 -2.21755380e+01] [-3.39161762e-01 -1.90563622e-02 9.40535036e-01 2.29887987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.65420609899999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:14.97, Y:-22.20, Z:23.01 [[ 1.73453703e-01 9.83626190e-01 4.89216907e-02 1.49699244e+01] [-9.23616320e-01 1.79711160e-01 -3.38580554e-01 -2.22002417e+01] [-3.41828474e-01 1.35431788e-02 9.39664768e-01 2.30131849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68420609899999 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:14.99, Y:-22.22, Z:23.04 [[ 1.31842942e-01 9.89508150e-01 5.90851838e-02 1.49948523e+01] [-9.31612581e-01 1.44053846e-01 -3.33686214e-01 -2.22152903e+01] [-3.38696676e-01 -1.10503286e-02 9.40830724e-01 2.30383249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.71420609899999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:15.01, Y:-22.23, Z:23.07 [[ 1.09808686e-01 9.91946290e-01 6.31237727e-02 1.50100468e+01] [-9.35523043e-01 1.24598417e-01 -3.30562960e-01 -2.22311143e+01] [-3.35765824e-01 -2.27550595e-02 9.41670600e-01 2.30653460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.74420609899999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:14.98, Y:-22.25, Z:23.09 [[ 1.70537479e-01 9.84176487e-01 4.81000102e-02 1.49816113e+01] [-9.25406210e-01 1.76738187e-01 -3.35241643e-01 -2.22540193e+01] [-3.38438051e-01 1.26592164e-02 9.40903518e-01 2.30907536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.77420609899999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:15.00, Y:-22.27, Z:23.12 [[ 1.43170959e-01 9.88193793e-01 5.45445082e-02 1.50006321e+01] [-9.31264644e-01 1.53169897e-01 -3.30583040e-01 -2.22719118e+01] [-3.35034685e-01 -3.46548126e-03 9.42199422e-01 2.31157634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.80420609899999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:15.02, Y:-22.29, Z:23.14 [[ 0.10579604 0.99238922 0.06301449 15.02405761] [ -0.93797477 0.12063434 -0.32503951 -22.28705488] [ -0.33016742 -0.02471811 0.94359869 23.14229654] [ 0. 0. 0. 1. ]] SLAMing on 51.83420609899999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:15.01, Y:-22.31, Z:23.17 [[ 1.35630011e-01 9.89330783e-01 5.31893008e-02 1.50115387e+01] [-9.33779385e-01 1.45589108e-01 -3.26894281e-01 -2.23072918e+01] [-3.31150358e-01 -5.33039759e-03 9.43562943e-01 2.31697144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.864206098999986 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:15.00, Y:-22.33, Z:23.19 [[ 1.62036285e-01 9.85662627e-01 4.70470792e-02 1.50011474e+01] [-9.28849703e-01 1.68445416e-01 -3.29946014e-01 -2.23293689e+01] [-3.33140320e-01 9.76356076e-03 9.42826708e-01 2.31940501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.89420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.04, Y:-22.34, Z:23.22 [[ 0.09869838 0.99324985 0.06093732 15.03731424] [ -0.93877792 0.11324797 -0.32537812 -22.34230581] [ -0.3300828 -0.02509232 0.94361842 23.22051405] [ 0. 0. 0. 1. ]] SLAMing on 51.92420609899999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:15.02, Y:-22.36, Z:23.25 [[ 1.41286144e-01 9.88732692e-01 4.94559368e-02 1.50176060e+01] [-9.31127032e-01 1.49688970e-01 -3.32559261e-01 -2.23623496e+01] [-3.36215221e-01 9.36255940e-04 9.41784715e-01 2.32476826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.95420609899999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:15.03, Y:-22.38, Z:23.27 [[ 1.16897057e-01 9.91584027e-01 5.56434602e-02 1.50334752e+01] [-9.35181353e-01 1.28762250e-01 -3.29933509e-01 -2.23791476e+01] [-3.34321575e-01 -1.34684700e-02 9.42362820e-01 2.32730207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.98420609899999 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:15.02, Y:-22.40, Z:23.30 [[ 1.44120535e-01 9.88352989e-01 4.88634790e-02 1.50239596e+01] [-9.33305477e-01 1.52173439e-01 -3.25244724e-01 -2.24036485e+01] [-3.28892319e-01 1.26989109e-03 9.44366576e-01 2.32961728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.01420609899999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:15.05, Y:-22.41, Z:23.32 [[ 0.09167064 0.99386354 0.06190127 15.05443901] [ -0.93911091 0.10695869 -0.32654331 -22.4142864 ] [ -0.33116037 -0.02819772 0.94315306 23.32279008] [ 0. 0. 0. 1. ]] SLAMing on 52.044206098999986 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:15.04, Y:-22.44, Z:23.35 [[ 1.21389166e-01 9.91251589e-01 5.18165808e-02 1.50415160e+01] [-9.37906887e-01 1.31633399e-01 -3.20941302e-01 -2.24351923e+01] [-3.24954368e-01 -9.64033103e-03 9.45680561e-01 2.33496848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.07420609899999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:15.03, Y:-22.46, Z:23.37 [[ 1.51767355e-01 9.87507630e-01 4.23715846e-02 1.50279545e+01] [-9.33572872e-01 1.57295570e-01 -3.22024528e-01 -2.24558805e+01] [-3.24666541e-01 9.31584905e-03 9.45782666e-01 2.33718929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.10420609899999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:15.05, Y:-22.47, Z:23.40 [[ 1.20500810e-01 9.91448743e-01 5.00893714e-02 1.50477914e+01] [-9.38703929e-01 1.30215845e-01 -3.19184535e-01 -2.24721437e+01] [-3.22977536e-01 -8.55709475e-03 9.46367945e-01 2.33972752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.13420609899999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:15.07, Y:-22.49, Z:23.43 [[ 0.09032227 0.99422445 0.05796231 15.06732174] [ -0.9431677 0.10408292 -0.31559695 -22.48770153] [ -0.31980709 -0.02616275 0.94712139 23.42624653] [ 0. 0. 0. 1. ]] SLAMing on 52.16420609899999 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:15.05, Y:-22.51, Z:23.45 [[ 1.20479686e-01 9.91549158e-01 4.81135380e-02 1.50544908e+01] [-9.39644872e-01 1.29539494e-01 -3.16681282e-01 -2.25084007e+01] [-3.20237662e-01 -7.05597787e-03 9.47310959e-01 2.34539904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.19420609899999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:15.06, Y:-22.52, Z:23.48 [[ 1.14430601e-01 9.92189434e-01 4.96564620e-02 1.50604273e+01] [-9.38977656e-01 1.24344649e-01 -3.20716963e-01 -2.25240549e+01] [-3.24386498e-01 -9.92647344e-03 9.45872542e-01 2.34784344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.224206098999986 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:15.06, Y:-22.54, Z:23.50 [[ 1.15083199e-01 9.92124940e-01 4.94364336e-02 1.50633469e+01] [-9.39338042e-01 1.24878012e-01 -3.19451914e-01 -2.25418288e+01] [-3.23109735e-01 -9.67397450e-03 9.46312059e-01 2.35048761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.25420609899999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:15.06, Y:-22.56, Z:23.53 [[ 1.18888134e-01 9.91860783e-01 4.55828869e-02 1.50647757e+01] [-9.41080692e-01 1.27201945e-01 -3.13347723e-01 -2.25624594e+01] [-3.16595550e-01 -5.64384878e-03 9.48543834e-01 2.35301085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28420609899999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:15.07, Y:-22.58, Z:23.56 [[ 1.16446029e-01 9.92139576e-01 4.58190281e-02 1.50692584e+01] [-9.40292211e-01 1.24981615e-01 -3.16591461e-01 -2.25789802e+01] [-3.19829454e-01 -6.21745678e-03 9.47454729e-01 2.35573016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.31420609899999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:15.07, Y:-22.60, Z:23.58 [[ 1.11539318e-01 9.92673427e-01 4.64591059e-02 1.50745271e+01] [-9.42013398e-01 1.20505046e-01 -3.13192102e-01 -2.25976332e+01] [-3.16496033e-01 -8.83186690e-03 9.48552718e-01 2.35827070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34420609899999 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:15.07, Y:-22.62, Z:23.61 [[ 1.21721344e-01 9.91690156e-01 4.16479219e-02 1.50723499e+01] [-9.41760043e-01 1.28641625e-01 -3.10707827e-01 -2.26184305e+01] [-3.13483550e-01 -1.40257445e-03 9.49592595e-01 2.36083403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.37420609899999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:15.08, Y:-22.63, Z:23.63 [[ 1.15192994e-01 9.92361428e-01 4.41516644e-02 1.50781686e+01] [-9.42070382e-01 1.23234626e-01 -3.11956122e-01 -2.26349802e+01] [-3.15014236e-01 -5.65881571e-03 9.49070076e-01 2.36334959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.08, Y:-22.66, Z:23.65 [[ 1.10802071e-01 9.92548212e-01 5.07045228e-02 1.50822403e+01] [-9.44485353e-01 1.21040343e-01 -3.05445007e-01 -2.26605890e+01] [-3.09306189e-01 -1.40457398e-02 9.50858769e-01 2.36536875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.43420609899999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:15.08, Y:-22.67, Z:23.69 [[ 1.23774796e-01 9.91504224e-01 3.99896693e-02 1.50807660e+01] [-9.40996011e-01 1.30070335e-01 -3.12423133e-01 -2.26706606e+01] [-3.14970326e-01 1.03999024e-03 9.49100949e-01 2.36866996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46420609899999 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:15.10, Y:-22.69, Z:23.71 [[ 1.03097587e-01 9.93575331e-01 4.66792179e-02 1.50950552e+01] [-9.44732380e-01 1.12496643e-01 -3.07937063e-01 -2.26885414e+01] [-3.11209924e-01 -1.23518006e-02 9.50260920e-01 2.37121883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.49420609899999 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:15.08, Y:-22.71, Z:23.74 [[ 1.43078521e-01 9.89065606e-01 3.57458379e-02 1.50760650e+01] [-9.37776278e-01 1.47028107e-01 -3.14576522e-01 -2.27092508e+01] [-3.16392461e-01 1.14875445e-02 9.48558826e-01 2.37364629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.52420609899999 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:15.09, Y:-22.73, Z:23.76 [[ 1.12870223e-01 9.92661891e-01 4.33898907e-02 1.50948175e+01] [-9.42356512e-01 1.20790089e-01 -3.12048009e-01 -2.27255304e+01] [-3.14999235e-01 -5.66781790e-03 9.49075001e-01 2.37622400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.55420609899999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:15.09, Y:-22.74, Z:23.79 [[ 1.21580769e-01 9.91686240e-01 4.21487507e-02 1.50945315e+01] [-9.41219740e-01 1.28668246e-01 -3.12329766e-01 -2.27446716e+01] [-3.15156337e-01 -1.69794293e-03 9.49038250e-01 2.37899604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58420609899999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:15.10, Y:-22.76, Z:23.82 [[ 1.16825540e-01 9.92202967e-01 4.34173384e-02 1.51005009e+01] [-9.42358272e-01 1.24546404e-01 -3.10562522e-01 -2.27620782e+01] [-3.13548530e-01 -4.63305365e-03 9.49560875e-01 2.38151099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.614206098999986 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:15.11, Y:-22.78, Z:23.84 [[ 1.04526257e-01 9.93473115e-01 4.56665132e-02 1.51098148e+01] [-9.43246727e-01 1.13586277e-01 -3.12063728e-01 -2.27774366e+01] [-3.15214013e-01 -1.04559357e-02 9.48963013e-01 2.38419532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64420609899999 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:15.12, Y:-22.79, Z:23.87 [[ 9.28452296e-02 9.94538428e-01 4.76768104e-02 1.51177983e+01] [-9.46081987e-01 1.03043565e-01 -3.07100794e-01 -2.27948362e+01] [-3.10336330e-01 -1.65933278e-02 9.50481996e-01 2.38683293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.67420609899999 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:15.11, Y:-22.81, Z:23.90 [[ 1.11700403e-01 9.92866992e-01 4.16912053e-02 1.51112216e+01] [-9.43075868e-01 1.19137148e-01 -3.10506436e-01 -2.28132877e+01] [-3.13258562e-01 -4.63427571e-03 9.49656568e-01 2.38959848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.70420609899999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:15.10, Y:-22.84, Z:23.92 [[ 1.41511625e-01 9.89438490e-01 3.13995944e-02 1.50974133e+01] [-9.38933440e-01 1.44203022e-01 -3.12425165e-01 -2.28350555e+01] [-3.13653400e-01 1.47296634e-02 9.49423289e-01 2.39208653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.73420609899999 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:15.13, Y:-22.85, Z:23.95 [[ 8.77817056e-02 9.95035072e-01 4.68996648e-02 1.51286105e+01] [-9.45563595e-01 9.80437490e-02 -3.10317437e-01 -2.28485160e+01] [-3.13374952e-01 -1.71064217e-02 9.49475387e-01 2.39467464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76420609899999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:15.13, Y:-22.87, Z:23.97 [[ 9.17145354e-02 9.94749434e-01 4.54093307e-02 1.51287894e+01] [-9.45784572e-01 1.01287216e-01 -3.08597543e-01 -2.28663201e+01] [-3.11576616e-01 -1.46445641e-02 9.50108178e-01 2.39747596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.794206098999986 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:15.11, Y:-22.89, Z:24.00 [[ 1.38334502e-01 9.89830569e-01 3.31513321e-02 1.51075940e+01] [-9.39697833e-01 1.41752401e-01 -3.11246268e-01 -2.28879953e+01] [-3.12780351e-01 1.19038625e-02 9.49750888e-01 2.39996537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.82420609899999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:15.13, Y:-22.90, Z:24.03 [[ 1.04314407e-01 9.93609618e-01 4.31095248e-02 1.51289372e+01] [-9.44085688e-01 1.12560293e-01 -3.09890940e-01 -2.29030032e+01] [-3.12763039e-01 -8.37299576e-03 9.49794280e-01 2.40252862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.85420609899999 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:15.13, Y:-22.92, Z:24.05 [[ 1.00204498e-01 9.94026483e-01 4.32482338e-02 1.51323379e+01] [-9.45224494e-01 1.08676678e-01 -3.07798694e-01 -2.29212598e+01] [-3.10660128e-01 -1.00364761e-02 9.50468071e-01 2.40506373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.88420609899999 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:15.13, Y:-22.94, Z:24.08 [[ 1.04813174e-01 9.93628969e-01 4.14206511e-02 1.51325553e+01] [-9.45013130e-01 1.12485862e-01 -3.07078352e-01 -2.29399070e+01] [-3.09781184e-01 -6.95720243e-03 9.50782423e-01 2.40779705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.91420609899999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:15.14, Y:-22.96, Z:24.11 [[ 9.36448046e-02 9.94645582e-01 4.37129015e-02 1.51407765e+01] [-9.46876774e-01 1.02543288e-01 -3.04810185e-01 -2.29561476e+01] [-3.07660568e-01 -1.28468410e-02 9.51409446e-01 2.41063938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94420609899999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:15.13, Y:-22.97, Z:24.13 [[ 1.10511432e-01 9.93125238e-01 3.85938585e-02 1.51346122e+01] [-9.44765513e-01 1.17027115e-01 -3.06141764e-01 -2.29746799e+01] [-3.08553640e-01 -2.62998182e-03 9.51203309e-01 2.41347499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.974206098999986 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:15.14, Y:-22.99, Z:24.16 [[ 1.07210792e-01 9.93484928e-01 3.86463966e-02 1.51384458e+01] [-9.44991098e-01 1.13905204e-01 -3.06622616e-01 -2.29918257e+01] [-3.09026973e-01 -3.64724732e-03 9.51046280e-01 2.41622984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.00420609899999 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:15.14, Y:-23.01, Z:24.19 [[ 1.07300893e-01 9.93497963e-01 3.80567563e-02 1.51422945e+01] [-9.45062812e-01 1.13808089e-01 -3.06437595e-01 -2.30100795e+01] [-3.08776293e-01 -3.08499756e-03 9.51129688e-01 2.41900154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.03420609899999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:15.15, Y:-23.03, Z:24.22 [[ 1.04785855e-01 9.93767542e-01 3.80262727e-02 1.51458869e+01] [-9.44832358e-01 1.11412463e-01 -3.08024477e-01 -2.30284797e+01] [-3.10341328e-01 -3.65184477e-03 9.50618180e-01 2.42175444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.06420609899999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:15.15, Y:-23.05, Z:24.25 [[ 1.03890738e-01 9.93877905e-01 3.75955466e-02 1.51493050e+01] [-9.44652360e-01 1.10431041e-01 -3.08928637e-01 -2.30459535e+01] [-3.11189062e-01 -3.41989776e-03 9.50341871e-01 2.42455438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.09420609899999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:15.15, Y:-23.06, Z:24.27 [[ 1.02622482e-01 9.94026488e-01 3.71479231e-02 1.51524076e+01] [-9.44846806e-01 1.09085871e-01 -3.08811893e-01 -2.30640888e+01] [-3.11019515e-01 -3.40805353e-03 9.50397415e-01 2.42727045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.12420609899999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:15.16, Y:-23.08, Z:24.30 [[ 9.60854196e-02 9.94685766e-01 3.69840406e-02 1.51578939e+01] [-9.45406655e-01 1.02823420e-01 -3.09246830e-01 -2.30814530e+01] [-3.11406245e-01 -5.25084675e-03 9.50262374e-01 2.43001163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.154206098999985 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:15.16, Y:-23.10, Z:24.33 [[ 9.48559378e-02 9.94819657e-01 3.65540838e-02 1.51609172e+01] [-9.45221165e-01 1.01526349e-01 -3.10240792e-01 -2.30998651e+01] [-3.12344841e-01 -5.12351241e-03 9.49954972e-01 2.43272529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18420609899999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:15.16, Y:-23.12, Z:24.35 [[ 9.54489984e-02 9.94787371e-01 3.58827947e-02 1.51635977e+01] [-9.44336707e-01 1.01891396e-01 -3.12803976e-01 -2.31162548e+01] [-3.14829593e-01 -4.02861397e-03 9.49139662e-01 2.43538312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.21420609899999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:15.18, Y:-23.13, Z:24.38 [[ 7.54062831e-02 9.96412363e-01 3.84225791e-02 1.51770533e+01] [-9.47009860e-01 8.36264059e-02 -3.10127312e-01 -2.31328720e+01] [-3.12227830e-01 -1.30010133e-02 9.49918289e-01 2.43819957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24420609899999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:15.17, Y:-23.15, Z:24.41 [[ 9.17389833e-02 9.95159957e-01 3.52224102e-02 1.51719142e+01] [-9.45634819e-01 9.81479371e-02 -3.10067367e-01 -2.31508780e+01] [-3.12023635e-01 -4.86227245e-03 9.50061898e-01 2.44095582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.27420609899999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:15.18, Y:-23.17, Z:24.44 [[ 8.98184805e-02 9.95346760e-01 3.48922324e-02 1.51752911e+01] [-9.45657373e-01 9.62228364e-02 -3.10601511e-01 -2.31694168e+01] [-3.12513637e-01 -5.09834113e-03 9.49899591e-01 2.44366556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.30420609899999 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:15.18, Y:-23.19, Z:24.46 [[ 8.71650111e-02 9.95586267e-01 3.47885775e-02 1.51781659e+01] [-9.46103925e-01 9.36658239e-02 -3.10022703e-01 -2.31863629e+01] [-3.11912847e-01 -5.89047729e-03 9.50092458e-01 2.44645407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.33420609899999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:15.17, Y:-23.21, Z:24.49 [[ 9.82153560e-02 9.94611612e-01 3.31886420e-02 1.51745496e+01] [-9.45027304e-01 1.03667365e-01 -3.10123319e-01 -2.32057410e+01] [-3.11892833e-01 -9.05300738e-04 9.50116857e-01 2.44890130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.364206098999986 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:15.19, Y:-23.22, Z:24.52 [[ 7.08444806e-02 9.96750693e-01 3.83290447e-02 1.51915867e+01] [-9.47378865e-01 7.92617292e-02 -3.10146521e-01 -2.32212518e+01] [-3.12176787e-01 -1.43399577e-02 9.49915796e-01 2.45177053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.39420609899999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:15.18, Y:-23.24, Z:24.55 [[ 8.90161094e-02 9.95449874e-01 3.39952991e-02 1.51849623e+01] [-9.45664693e-01 9.51816152e-02 -3.10899900e-01 -2.32400070e+01] [-3.12720994e-01 -4.47305455e-03 9.49834497e-01 2.45458943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.42420609899999 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:15.19, Y:-23.26, Z:24.57 [[ 8.99177698e-02 9.95386601e-01 3.34710192e-02 1.51873105e+01] [-9.45373154e-01 9.58768028e-02 -3.11572203e-01 -2.32575855e+01] [-3.13343891e-01 -3.62672534e-03 9.49632799e-01 2.45739232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.45420609899999 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:15.19, Y:-23.28, Z:24.60 [[ 9.34939941e-02 9.95060880e-01 3.33574243e-02 1.51888708e+01] [-9.45285244e-01 9.92356585e-02 -3.10786247e-01 -2.32754017e+01] [-3.12561482e-01 -2.47563346e-03 9.49894305e-01 2.46020166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.48420609899999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:15.19, Y:-23.29, Z:24.63 [[ 8.73045683e-02 9.95646007e-01 3.26640661e-02 1.51941641e+01] [-9.46149205e-01 9.31359638e-02 -3.10044149e-01 -2.32935264e+01] [-3.11736419e-01 -3.83680952e-03 9.50160873e-01 2.46290783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.51420609899999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:15.20, Y:-23.31, Z:24.66 [[ 9.04091965e-02 9.95382053e-01 3.22605935e-02 1.51956976e+01] [-9.45875967e-01 9.59603442e-02 -3.10016561e-01 -2.33118605e+01] [-3.11680658e-01 -2.48617186e-03 9.50183659e-01 2.46570536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.544206098999986 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:15.20, Y:-23.33, Z:24.68 [[ 9.36444681e-02 9.95150220e-01 3.01123286e-02 1.51950580e+01] [-9.45277824e-01 9.83645970e-02 -3.11085585e-01 -2.33290767e+01] [-3.12538875e-01 6.66927683e-04 9.49904736e-01 2.46829152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.57420609899999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:15.21, Y:-23.35, Z:24.71 [[ 6.93488749e-02 9.96973660e-01 3.51319506e-02 1.52096080e+01] [-9.48502292e-01 7.68066783e-02 -3.07317647e-01 -2.33462696e+01] [-3.09085968e-01 -1.20106025e-02 9.50958259e-01 2.47104706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.60420609899999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:15.19, Y:-23.37, Z:24.73 [[ 1.06993258e-01 9.93909984e-01 2.63701654e-02 1.51915539e+01] [-9.45099162e-01 1.09903915e-01 -3.07747791e-01 -2.33668346e+01] [-3.08771786e-01 8.00451743e-03 9.51102472e-01 2.47340943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.63420609899999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:15.21, Y:-23.38, Z:24.76 [[ 8.02263658e-02 9.96247216e-01 3.24840827e-02 1.52078943e+01] [-9.48226452e-01 8.63250910e-02 -3.05637980e-01 -2.33835494e+01] [-3.07295178e-01 -6.28204202e-03 9.51593511e-01 2.47601294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.21, Y:-23.40, Z:24.79 [[ 8.41833082e-02 9.95948792e-01 3.16097325e-02 1.52071842e+01] [-9.48061539e-01 8.98202941e-02 -3.05141988e-01 -2.34006127e+01] [-3.06744989e-01 -4.28010963e-03 9.51782114e-01 2.47869288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.69420609899999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:15.23, Y:-23.42, Z:24.81 [[ 4.92176749e-02 9.98062166e-01 3.80727349e-02 1.52264708e+01] [-9.52157717e-01 5.83970509e-02 -2.99975776e-01 -2.34165642e+01] [-3.01617809e-01 -2.14871381e-02 9.53186761e-01 2.48141942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.724206098999986 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:15.20, Y:-23.44, Z:24.84 [[ 1.13126266e-01 9.93354736e-01 2.11853037e-02 1.51950052e+01] [-9.46512303e-01 1.14227613e-01 -3.01772287e-01 -2.34376644e+01] [-3.02186877e-01 1.40862214e-02 9.53144622e-01 2.48401377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.75420609899999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:15.22, Y:-23.45, Z:24.86 [[ 6.85325897e-02 9.97100975e-01 3.30594792e-02 1.52201672e+01] [-9.52069610e-01 7.52673547e-02 -2.96476447e-01 -2.34524603e+01] [-2.98105254e-01 -1.11566267e-02 9.54467803e-01 2.48644608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78420609899999 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:15.21, Y:-23.47, Z:24.89 [[ 8.78911451e-02 9.95745393e-01 2.76813717e-02 1.52115641e+01] [-9.50410052e-01 9.21470073e-02 -2.97034782e-01 -2.34705326e+01] [-2.98321772e-01 -2.01926728e-04 9.54465337e-01 2.48924178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.81420609899999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:15.23, Y:-23.49, Z:24.92 [[ 6.54396391e-02 9.97304111e-01 3.31988645e-02 1.52266157e+01] [-9.53309174e-01 7.23134125e-02 -2.93210485e-01 -2.34884334e+01] [-2.94820745e-01 -1.24611938e-02 9.55471322e-01 2.49169414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84420609899999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:15.23, Y:-23.50, Z:24.94 [[ 6.77238539e-02 9.97152769e-01 3.31637471e-02 1.52264407e+01] [-9.53736699e-01 7.44625365e-02 -2.91275882e-01 -2.35032463e+01] [-2.92916009e-01 -1.19031574e-02 9.56064081e-01 2.49445284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.87420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:15.21, Y:-23.52, Z:24.97 [[ 9.52228075e-02 9.95150991e-01 2.46398393e-02 1.52144161e+01] [-9.50991459e-01 9.82566993e-02 -2.93190834e-01 -2.35201392e+01] [-2.94190179e-01 4.48617769e-03 9.55736372e-01 2.49706334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.904206098999985 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:15.21, Y:-23.54, Z:25.00 [[ 1.02638329e-01 9.94453569e-01 2.29667492e-02 1.52129891e+01] [-9.51618916e-01 1.04887704e-01 -2.88825222e-01 -2.35401542e+01] [-2.89632203e-01 7.78894521e-03 9.57106326e-01 2.49961510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.93420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.22, Y:-23.56, Z:25.02 [[ 8.43411043e-02 9.96077051e-01 2.67784743e-02 1.52235080e+01] [-9.53419329e-01 8.84819028e-02 -2.88379152e-01 -2.35585283e+01] [-2.89617266e-01 -1.20889887e-03 9.57141775e-01 2.50208807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.23, Y:-23.58, Z:25.05 [[ 8.03408298e-02 9.96405112e-01 2.68738378e-02 1.52276826e+01] [-9.54314493e-01 8.46756557e-02 -2.86555200e-01 -2.35759306e+01] [-2.87800626e-01 -2.62401033e-03 9.57686752e-01 2.50470558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.99420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.23, Y:-23.59, Z:25.07 [[ 7.38890463e-02 9.96911902e-01 2.65907779e-02 1.52341269e+01] [-9.55582501e-01 7.84037376e-02 -2.84103743e-01 -2.35926056e+01] [-2.85311219e-01 -4.41752739e-03 9.58424746e-01 2.50746217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.02420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.24, Y:-23.61, Z:25.10 [[ 7.54403203e-02 9.96821854e-01 2.55919946e-02 1.52350904e+01] [-9.55945992e-01 7.96007134e-02 -2.82543779e-01 -2.36101727e+01] [-2.83682955e-01 -3.14937146e-03 9.58912959e-01 2.51011533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.05420609899999 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:15.25, Y:-23.63, Z:25.13 [[ 4.97169893e-02 9.98223007e-01 3.28488882e-02 1.52510922e+01] [-9.59594659e-01 5.68617266e-02 -2.75580903e-01 -2.36252616e+01] [-2.76959042e-01 -1.78205649e-02 9.60716460e-01 2.51283824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.24, Y:-23.64, Z:25.16 [[ 8.14798585e-02 9.96410563e-01 2.29569789e-02 1.52364182e+01] [-9.57447710e-01 8.46506879e-02 -2.75913290e-01 -2.36426465e+01] [-2.76866241e-01 5.01268932e-04 9.60908338e-01 2.51567506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.114206098999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.24, Y:-23.66, Z:25.18 [[ 7.91937761e-02 9.96605781e-01 2.24780463e-02 1.52385655e+01] [-9.57958899e-01 8.23217018e-02 -2.74841564e-01 -2.36610439e+01] [-2.75759122e-01 2.32696710e-04 9.61226743e-01 2.51846302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.24, Y:-23.68, Z:25.21 [[ 8.16822865e-02 9.96410887e-01 2.22114259e-02 1.52390263e+01] [-9.57376082e-01 8.46384733e-02 -2.76165469e-01 -2.36777046e+01] [-2.77054221e-01 1.29313911e-03 9.60853416e-01 2.52132953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.17420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.23, Y:-23.70, Z:25.24 [[ 9.99963166e-02 9.94840813e-01 1.71024372e-02 1.52311058e+01] [-9.54489387e-01 1.00766061e-01 -2.80706627e-01 -2.36959366e+01] [-2.80981755e-01 1.17455340e-02 9.59641233e-01 2.52395539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.20420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.24, Y:-23.71, Z:25.26 [[ 8.56218292e-02 9.96116290e-01 2.05241126e-02 1.52400974e+01] [-9.56450963e-01 8.79470916e-02 -2.78328700e-01 -2.37127506e+01] [-2.79052788e-01 4.20070513e-03 9.60266575e-01 2.52648144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.23420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.24, Y:-23.73, Z:25.29 [[ 8.07703478e-02 9.96492861e-01 2.18661516e-02 1.52449187e+01] [-9.57558973e-01 8.36670823e-02 -2.75827178e-01 -2.37297750e+01] [-2.76689291e-01 1.34052745e-03 9.60958500e-01 2.52907427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26420609899999 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:15.27, Y:-23.75, Z:25.32 [[ 4.24282638e-02 9.98622933e-01 3.08557861e-02 1.52671140e+01] [-9.61864970e-01 4.91802608e-02 -2.69067056e-01 -2.37456986e+01] [-2.70214028e-01 -1.82630518e-02 9.62627051e-01 2.53183938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.294206098999986 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:15.23, Y:-23.76, Z:25.34 [[ 1.08388894e-01 9.94018996e-01 1.33447627e-02 1.52333548e+01] [-9.55866437e-01 1.07897389e-01 -2.73271858e-01 -2.37649952e+01] [-2.73077283e-01 1.68638236e-02 9.61844275e-01 2.53424330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.32420609899999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:15.25, Y:-23.78, Z:25.37 [[ 7.98130530e-02 9.96633059e-01 1.87728961e-02 1.52499558e+01] [-9.59724041e-01 8.19192747e-02 -2.68735925e-01 -2.37823248e+01] [-2.69368969e-01 3.43183487e-03 9.63030935e-01 2.53702680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.35420609899999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:15.26, Y:-23.80, Z:25.40 [[ 7.17890265e-02 9.97200385e-01 2.09219552e-02 1.52554884e+01] [-9.60552889e-01 7.47705831e-02 -2.67857252e-01 -2.37982419e+01] [-2.68671701e-01 -8.67433211e-04 9.63231418e-01 2.53973469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.38420609899999 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:15.26, Y:-23.82, Z:25.42 [[ 6.99970160e-02 9.97315698e-01 2.14899297e-02 1.52576827e+01] [-9.61215680e-01 7.31930510e-02 -2.65908243e-01 -2.38151727e+01] [-2.66767379e-01 -2.04367387e-03 9.63758782e-01 2.54224249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.41420609899999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:15.26, Y:-23.83, Z:25.45 [[ 6.30413446e-02 9.97754119e-01 2.26385942e-02 1.52635076e+01] [-9.62298593e-01 6.67836816e-02 -2.63669029e-01 -2.38324226e+01] [-2.64588749e-01 -5.16303725e-03 9.64347519e-01 2.54502396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44420609899999 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:15.25, Y:-23.85, Z:25.48 [[ 9.15781481e-02 9.95701172e-01 1.38787276e-02 1.52499301e+01] [-9.60599427e-01 9.20053582e-02 -2.62266571e-01 -2.38509134e+01] [-2.62416049e-01 1.06859891e-02 9.64895656e-01 2.54764704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.474206098999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.26, Y:-23.87, Z:25.50 [[ 7.42353730e-02 9.97068392e-01 1.85400054e-02 1.52601097e+01] [-9.62151399e-01 7.64992193e-02 -2.61557937e-01 -2.38673297e+01] [-2.62209448e-01 1.57855893e-03 9.65009696e-01 2.55020387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.50420609899999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:15.28, Y:-23.88, Z:25.53 [[ 3.29611291e-02 9.99039017e-01 2.88895536e-02 1.52827069e+01] [-9.66829823e-01 3.91970748e-02 -2.52395887e-01 -2.38832731e+01] [-2.53285725e-01 -1.96120286e-02 9.67192695e-01 2.55302728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.53420609899999 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:15.26, Y:-23.90, Z:25.56 [[ 7.50059329e-02 9.97044268e-01 1.66384621e-02 1.52612616e+01] [-9.64177959e-01 7.67705495e-02 -2.53903813e-01 -2.39018308e+01] [-2.54430685e-01 3.00185391e-03 9.67086354e-01 2.55587621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56420609899999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:15.26, Y:-23.92, Z:25.59 [[ 7.34500093e-02 9.97168778e-01 1.61097528e-02 1.52624521e+01] [-9.64927611e-01 7.51388116e-02 -2.51533030e-01 -2.39180249e+01] [-2.52031352e-01 2.93035812e-03 9.67714633e-01 2.55871741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.59420609899999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:15.26, Y:-23.93, Z:25.61 [[ 6.93889008e-02 9.97507181e-01 1.28298568e-02 1.52613681e+01] [-9.63922284e-01 7.03545425e-02 -2.56717878e-01 -2.39330076e+01] [-2.56980566e-01 5.44638657e-03 9.66401224e-01 2.56129414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.62420609899999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:15.28, Y:-23.95, Z:25.64 [[ 4.16040523e-02 9.98924657e-01 2.04605037e-02 1.52771710e+01] [-9.67161943e-01 4.54032920e-02 -2.50072625e-01 -2.39492483e+01] [-2.50732686e-01 -9.38458597e-03 9.68010873e-01 2.56412746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.654206098999985 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:15.27, Y:-23.96, Z:25.67 [[ 5.67459090e-02 9.98271794e-01 1.52750529e-02 1.52709243e+01] [-9.66319430e-01 5.87633431e-02 -2.50546661e-01 -2.39642096e+01] [-2.51011278e-01 -5.43082367e-04 9.67984010e-01 2.56707850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68420609899999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:15.27, Y:-23.98, Z:25.70 [[ 5.47047350e-02 9.98393629e-01 1.47496782e-02 1.52744295e+01] [-9.67094744e-01 5.66540079e-02 -2.48028386e-01 -2.39823066e+01] [-2.48465589e-01 -6.96009175e-04 9.68640473e-01 2.56986199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.71420609899999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:15.27, Y:-24.00, Z:25.73 [[ 6.55206809e-02 9.97759021e-01 1.35637927e-02 1.52697709e+01] [-9.64955102e-01 6.68162800e-02 -2.53766106e-01 -2.39962070e+01] [-2.54103704e-01 3.53847712e-03 9.67170506e-01 2.57270359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.74420609899999 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:15.28, Y:-24.01, Z:25.75 [[ 5.12416862e-02 9.98555832e-01 1.61412241e-02 1.52785630e+01] [-9.65418658e-01 5.36651512e-02 -2.55121278e-01 -2.40109037e+01] [-2.55619062e-01 -2.51019446e-03 9.66774324e-01 2.57536270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.77420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.29, Y:-24.03, Z:25.78 [[ 4.18690644e-02 9.98960199e-01 1.80417024e-02 1.52857381e+01] [-9.66233426e-01 4.50792411e-02 -2.53694362e-01 -2.40273057e+01] [-2.54243876e-01 -6.81055041e-03 9.67116160e-01 2.57818479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.28, Y:-24.04, Z:25.81 [[ 6.30334428e-02 9.97931790e-01 1.26066837e-02 1.52755550e+01] [-9.65377538e-01 6.41712682e-02 -2.52840378e-01 -2.40445678e+01] [-2.53126438e-01 3.76719016e-03 9.67425871e-01 2.58085031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.83420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.31, Y:-24.06, Z:25.83 [[ 1.42167550e-03 9.99671605e-01 2.55863508e-02 1.53109292e+01] [-9.67371775e-01 7.85733703e-03 -2.53239237e-01 -2.40581897e+01] [-2.53357115e-01 -2.43914896e-02 9.67065265e-01 2.58346648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.864206098999986 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:15.29, Y:-24.08, Z:25.86 [[ 3.87456967e-02 9.99140790e-01 1.47123249e-02 1.52927191e+01] [-9.66609117e-01 4.12083961e-02 -2.52920310e-01 -2.40760251e+01] [-2.53309270e-01 -4.42149372e-03 9.67375245e-01 2.58622433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.89420609899999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:15.32, Y:-24.09, Z:25.89 [[-4.75794574e-03 9.99685269e-01 2.46317978e-02 1.53177672e+01] [-9.67015430e-01 1.67354172e-03 -2.54712303e-01 -2.40896148e+01] [-2.54673359e-01 -2.50312359e-02 9.66703117e-01 2.58908450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92420609899999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:15.31, Y:-24.11, Z:25.92 [[ 4.74518713e-03 9.99758701e-01 2.14481231e-02 1.53143168e+01] [-9.67154205e-01 1.00394027e-02 -2.53992037e-01 -2.41067580e+01] [-2.54146076e-01 -1.95384027e-02 9.66968471e-01 2.59182515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.95420609899999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:15.29, Y:-24.13, Z:25.95 [[ 4.49970883e-02 9.98966373e-01 6.43795046e-03 1.52930498e+01] [-9.68888043e-01 4.52104509e-02 -2.43335109e-01 -2.41288451e+01] [-2.43374654e-01 4.71171814e-03 9.69920913e-01 2.59464571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.98420609899999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:15.32, Y:-24.14, Z:25.97 [[ 4.07530856e-03 9.99799966e-01 1.95811221e-02 1.53157809e+01] [-9.67808450e-01 8.87116206e-03 -2.51531523e-01 -2.41414323e+01] [-2.51654916e-01 -1.79257068e-02 9.67651008e-01 2.59737698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.01420609899999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:15.31, Y:-24.16, Z:26.00 [[ 2.97242880e-02 9.99516679e-01 9.10357012e-03 1.53056143e+01] [-9.69379584e-01 3.10467226e-02 -2.43596641e-01 -2.41611088e+01] [-2.43761541e-01 -1.58407830e-03 9.69833904e-01 2.60018025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.044206098999986 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:15.32, Y:-24.17, Z:26.03 [[ 2.98963985e-03 9.99834978e-01 1.79186880e-02 1.53204180e+01] [-9.67387586e-01 7.43023015e-03 -2.53191724e-01 -2.41742379e+01] [-2.53283082e-01 -1.65773643e-02 9.67250160e-01 2.60274897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.07420609899999 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.19, Z:26.05 [[-2.28790558e-02 9.99487219e-01 2.24019836e-02 1.53351818e+01] [-9.68174485e-01 -1.65650235e-02 -2.49727384e-01 -2.41933035e+01] [-2.49228239e-01 -2.74025557e-02 9.68057015e-01 2.60530143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10420609899999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:15.31, Y:-24.21, Z:26.08 [[ 3.00629357e-02 9.99524039e-01 6.92207672e-03 1.53084529e+01] [-9.68015668e-01 3.08395792e-02 -2.48987123e-01 -2.42100536e+01] [-2.49082089e-01 7.84605172e-04 9.68482058e-01 2.60823369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.13420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.22, Z:26.11 [[-2.85640904e-02 9.99393472e-01 1.99193671e-02 1.53400780e+01] [-9.67829579e-01 -2.26674552e-02 -2.50583503e-01 -2.42243535e+01] [-2.49979996e-01 -2.64362425e-02 9.67890038e-01 2.61095378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16420609899999 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.24, Z:26.14 [[-1.95109144e-02 9.99693082e-01 1.52665270e-02 1.53365112e+01] [-9.67639078e-01 -1.50386569e-02 -2.51889765e-01 -2.42415595e+01] [-2.51582868e-01 -1.96870877e-02 9.67635510e-01 2.61370111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.19420609899999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.26, Z:26.17 [[-1.58185624e-02 9.99773213e-01 1.42581521e-02 1.53357621e+01] [-9.67706683e-01 -1.17200939e-02 -2.51806305e-01 -2.42580245e+01] [-2.51582092e-01 -1.77809228e-02 9.67672615e-01 2.61657105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.224206098999986 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:15.33, Y:-24.28, Z:26.19 [[-9.37671952e-03 9.99913485e-01 9.22489486e-03 1.53335097e+01] [-9.68787190e-01 -6.79869907e-03 -2.47800642e-01 -2.42755596e+01] [-2.47716487e-01 -1.12605171e-02 9.68767125e-01 2.61937723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.25420609899999 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:15.33, Y:-24.29, Z:26.22 [[-3.57159851e-04 9.99971187e-01 7.58266129e-03 1.53302482e+01] [-9.68417006e-01 1.54475992e-03 -2.49331338e-01 -2.42923378e+01] [-2.49335868e-01 -7.43222929e-03 9.68388552e-01 2.62200992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28420609899999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.31, Z:26.25 [[-1.48367514e-02 9.99849694e-01 8.96996395e-03 1.53382309e+01] [-9.68717353e-01 -1.21510689e-02 -2.47868999e-01 -2.43092086e+01] [-2.47722748e-01 -1.23669305e-02 9.68752032e-01 2.62478411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.31420609899999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.32, Z:26.27 [[-1.97742500e-02 9.99749579e-01 1.04765461e-02 1.53412935e+01] [-9.68614360e-01 -1.65594168e-02 -2.48016143e-01 -2.43245726e+01] [-2.47780549e-01 -1.50520662e-02 9.68699249e-01 2.62748866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34420609899999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.34, Z:26.30 [[-2.35925188e-02 9.99661861e-01 1.09341858e-02 1.53443233e+01] [-9.68010005e-01 -2.01099060e-02 -2.50104421e-01 -2.43386348e+01] [-2.49799965e-01 -1.64849945e-02 9.68157127e-01 2.63032007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.37420609899999 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:15.33, Y:-24.36, Z:26.33 [[ 7.23661570e-03 9.99972941e-01 -1.32245371e-03 1.53293181e+01] [-9.69817605e-01 6.69604420e-03 -2.43739565e-01 -2.43584362e+01] [-2.43724114e-01 3.04638846e-03 9.69839820e-01 2.63315257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.404206098999985 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:15.35, Y:-24.37, Z:26.36 [[-2.58446551e-02 9.99636825e-01 7.63357450e-03 1.53480435e+01] [-9.69453771e-01 -2.31997001e-02 -2.44174444e-01 -2.43732889e+01] [-2.43908669e-01 -1.37110019e-02 9.69701279e-01 2.63589227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.43420609899999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:15.35, Y:-24.39, Z:26.39 [[-3.55979548e-02 9.99320521e-01 9.55420127e-03 1.53534117e+01] [-9.69968977e-01 -3.22474823e-02 -2.41081487e-01 -2.43888865e+01] [-2.40609578e-01 -1.78492867e-02 9.70457848e-01 2.63869832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46420609899999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.40, Z:26.42 [[-3.70994667e-03 9.99991235e-01 1.94058011e-03 1.53366283e+01] [-9.69974310e-01 -3.12665593e-03 -2.43187297e-01 -2.44043204e+01] [-2.43179098e-01 -2.78452476e-03 9.69977408e-01 2.64150244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.49420609899999 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:15.35, Y:-24.42, Z:26.44 [[-3.19680439e-02 9.99458770e-01 7.75961049e-03 1.53530661e+01] [-9.70192462e-01 -2.91641762e-02 -2.40574392e-01 -2.44219942e+01] [-2.40217883e-01 -1.52190083e-02 9.70599686e-01 2.64436441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.52420609899999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:15.33, Y:-24.44, Z:26.47 [[ 1.34650284e-02 9.99898584e-01 -4.63843723e-03 1.53292229e+01] [-9.69644907e-01 1.19246765e-02 -2.44226443e-01 -2.44366451e+01] [-2.44146363e-01 7.78615303e-03 9.69707136e-01 2.64726164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.55420609899999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.45, Z:26.50 [[-1.45705935e-02 9.99891373e-01 2.22259451e-03 1.53447041e+01] [-9.69965658e-01 -1.35946690e-02 -2.42861703e-01 -2.44534983e+01] [-2.42805106e-01 -5.69447950e-03 9.70058376e-01 2.65008108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.584206098999985 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.47, Z:26.53 [[-1.19657054e-02 9.99927257e-01 1.51774706e-03 1.53440690e+01] [-9.70225928e-01 -1.12430509e-02 -2.41940576e-01 -2.44703386e+01] [-2.41905913e-01 -4.36754722e-03 9.70289881e-01 2.65278174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.614206098999986 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:15.36, Y:-24.49, Z:26.56 [[-4.41550818e-02 9.98972623e-01 1.01993342e-02 1.53608296e+01] [-9.69821125e-01 -4.04116683e-02 -2.40445178e-01 -2.44865890e+01] [-2.39785978e-01 -2.05084062e-02 9.70609134e-01 2.65557563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64420609899999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:15.33, Y:-24.50, Z:26.58 [[ 2.06131410e-02 9.99756177e-01 -7.91741178e-03 1.53262852e+01] [-9.69931178e-01 1.80761230e-02 -2.42707155e-01 -2.45029601e+01] [-2.42504862e-01 1.26823013e-02 9.70067292e-01 2.65843857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.67420609899999 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:15.35, Y:-24.52, Z:26.61 [[-1.53234508e-02 9.99882408e-01 -6.01939564e-04 1.53476619e+01] [-9.70385441e-01 -1.50165438e-02 -2.41094585e-01 -2.45193305e+01] [-2.41075273e-01 -3.11028762e-03 9.70501437e-01 2.66133417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.70420609899999 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:15.35, Y:-24.54, Z:26.64 [[-1.11513345e-02 9.99935708e-01 -2.05598160e-03 1.53458599e+01] [-9.70558152e-01 -1.13184172e-02 -2.40600844e-01 -2.45352201e+01] [-2.40608646e-01 -6.87570790e-04 9.70621969e-01 2.66414197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.73420609899999 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.55, Z:26.67 [[ 7.54770303e-03 9.99956504e-01 -5.47933622e-03 1.53350498e+01] [-9.71686888e-01 6.04007461e-03 -2.36195067e-01 -2.45538351e+01] [-2.36151697e-01 7.10692938e-03 9.71690212e-01 2.66679093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76420609899999 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:15.35, Y:-24.57, Z:26.70 [[-2.37965018e-02 9.99713231e-01 2.67992203e-03 1.53515824e+01] [-9.70499881e-01 -2.24576180e-02 -2.40053402e-01 -2.45664025e+01] [-2.39924378e-01 -8.31329524e-03 9.70755985e-01 2.66969773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.794206098999986 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:15.36, Y:-24.58, Z:26.72 [[-3.80921631e-02 9.99234837e-01 8.87282967e-03 1.53581417e+01] [-9.70892068e-01 -3.49075830e-02 -2.36960024e-01 -2.45823058e+01] [-2.36468982e-01 -1.76408798e-02 9.71478883e-01 2.67234967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.82420609899999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:15.33, Y:-24.60, Z:26.75 [[ 2.58922306e-02 9.99617542e-01 -9.71399514e-03 1.53261618e+01] [-9.72088683e-01 2.29101622e-02 -2.33492433e-01 -2.46013113e+01] [-2.33180583e-01 1.54885047e-02 9.72310096e-01 2.67508437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.85420609899999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:15.36, Y:-24.61, Z:26.78 [[-3.64838233e-02 9.99288671e-01 9.54367457e-03 1.53590097e+01] [-9.71140609e-01 -3.32004601e-02 -2.36185619e-01 -2.46137596e+01] [-2.35700759e-01 -1.78852043e-02 9.71661089e-01 2.67791403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.88420609899999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:15.33, Y:-24.63, Z:26.81 [[ 1.08131818e-02 9.99928040e-01 -5.19515124e-03 1.53348163e+01] [-9.70519145e-01 9.24383001e-03 -2.40846716e-01 -2.46282123e+01] [-2.40781362e-01 7.64631307e-03 9.70549262e-01 2.68089798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.91420609899999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:15.35, Y:-24.64, Z:26.84 [[-1.06308756e-02 9.99943488e-01 -7.44055837e-05 1.53465905e+01] [-9.70727671e-01 -1.03381237e-02 -2.39960230e-01 -2.46442326e+01] [-2.39947439e-01 -2.47875980e-03 9.70782716e-01 2.68367931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94420609899999 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.66, Z:26.86 [[ 1.07853319e-02 9.99924098e-01 -5.95613528e-03 1.53351773e+01] [-9.71938702e-01 9.08332879e-03 -2.35058827e-01 -2.46627970e+01] [-2.34986884e-01 8.32418587e-03 9.71962897e-01 2.68621877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.974206098999986 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:15.35, Y:-24.68, Z:26.89 [[-1.95923566e-02 9.99807145e-01 1.34629378e-03 1.53517075e+01] [-9.72243083e-01 -1.87381623e-02 -2.33221502e-01 -2.46788112e+01] [-2.33151297e-01 -5.87828365e-03 9.72422706e-01 2.68893401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.00420609899999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:15.35, Y:-24.69, Z:26.92 [[-1.56491407e-02 9.99877536e-01 1.30211482e-04 1.53501612e+01] [-9.72501816e-01 -1.51904169e-02 -2.32399373e-01 -2.46940884e+01] [-2.32368935e-01 -3.76348139e-03 9.72620437e-01 2.69161459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.03420609899999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:15.35, Y:-24.71, Z:26.94 [[-2.30143451e-02 9.99732068e-01 2.47614763e-03 1.53545835e+01] [-9.72628624e-01 -2.18174278e-02 -2.31338627e-01 -2.47102832e+01] [-2.31222621e-01 -7.73247906e-03 9.72870139e-01 2.69434666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.06420609899999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:15.35, Y:-24.73, Z:26.97 [[-1.35921578e-02 9.99907448e-01 -5.90229961e-04 1.53489444e+01] [-9.73027029e-01 -1.33627058e-02 -2.30303796e-01 -2.47258785e+01] [-2.30290368e-01 -2.55601582e-03 9.73118602e-01 2.69710802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.09420609899999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:15.35, Y:-24.74, Z:27.00 [[-1.87127439e-02 9.99824871e-01 2.46471365e-04 1.53524098e+01] [-9.73644329e-01 -1.81667040e-02 -2.27347075e-01 -2.47427053e+01] [-2.27302782e-01 -4.49426304e-03 9.73813764e-01 2.69979786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.12420609899999 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:15.84, Y:-25.20, Z:26.76 [[-9.61648876e-01 -8.61063904e-03 2.74148310e-01 1.58445155e+01] [-1.10874775e-01 -9.02001161e-01 -4.17253747e-01 -2.51970817e+01] [ 2.50874915e-01 -4.31647729e-01 8.66453701e-01 2.67585715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.154206098999985 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:15.35, Y:-24.74, Z:27.01 [[-1.03415037e-02 9.99809089e-01 1.65782454e-02 1.53471525e+01] [-9.81912432e-01 -7.01909641e-03 -1.89205466e-01 -2.47433713e+01] [-1.89052980e-01 -1.82350543e-02 9.81797562e-01 2.70141169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18420609899999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.76, Z:27.04 [[ 3.81159862e-03 9.99918489e-01 1.21855219e-02 1.53392375e+01] [-9.82945043e-01 5.98680407e-03 -1.83802067e-01 -2.47588010e+01] [-1.83860038e-01 -1.12771186e-02 9.82887742e-01 2.70432043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.21420609899999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:15.31, Y:-24.77, Z:27.07 [[ 5.51510018e-02 9.98477152e-01 -1.32090938e-03 1.53135154e+01] [-9.80877590e-01 5.39314957e-02 -1.87004139e-01 -2.47744505e+01] [-1.86648121e-01 1.16091160e-02 9.82358238e-01 2.70702414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.24420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.79, Z:27.10 [[ 1.18410953e-02 9.99885302e-01 9.44310912e-03 1.53371649e+01] [-9.82999922e-01 1.33705373e-02 -1.83118492e-01 -2.47883846e+01] [-1.83223748e-01 -7.11425202e-03 9.83045495e-01 2.70972914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.27420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.80, Z:27.13 [[ 1.37053608e-02 9.99870374e-01 8.44977158e-03 1.53369498e+01] [-9.83265994e-01 1.50120688e-02 -1.81556113e-01 -2.48031034e+01] [-1.81659427e-01 -5.82008103e-03 9.83344283e-01 2.71255711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.30420609899999 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.82, Z:27.15 [[ 6.50181879e-03 9.99938101e-01 9.02891031e-03 1.53426426e+01] [-9.83528000e-01 8.02563637e-03 -1.80577578e-01 -2.48165973e+01] [-1.80638863e-01 -7.70610341e-03 9.83519302e-01 2.71538770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.334206098999985 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.83, Z:27.18 [[ 1.84705260e-02 9.99818213e-01 4.73086936e-03 1.53363778e+01] [-9.83436632e-01 1.90207959e-02 -1.80251490e-01 -2.48319119e+01] [-1.80308708e-01 -1.32317039e-03 9.83609180e-01 2.71832900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.364206098999986 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:15.35, Y:-24.84, Z:27.21 [[-5.73235551e-03 9.99886469e-01 1.39351879e-02 1.53511204e+01] [-9.83461766e-01 -3.11439564e-03 -1.81089083e-01 -2.48446340e+01] [-1.81025124e-01 -1.47427915e-02 9.83367965e-01 2.72135015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.39420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.33, Y:-24.86, Z:27.24 [[ 3.63326031e-02 9.99338409e-01 1.63882142e-03 1.53285866e+01] [-9.83126955e-01 3.60373090e-02 -1.79339630e-01 -2.48603763e+01] [-1.79280039e-01 4.90470607e-03 9.83785856e-01 2.72399296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42420609899999 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.88, Z:27.27 [[ 1.85624959e-02 9.99807196e-01 6.40343897e-03 1.53386131e+01] [-9.84031646e-01 1.94028033e-02 -1.76932899e-01 -2.48752847e+01] [-1.77023030e-01 -3.01687039e-03 9.84202086e-01 2.72673069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.45420609899999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.89, Z:27.30 [[ 2.54123115e-02 9.99674716e-01 2.16265597e-03 1.53350982e+01] [-9.83900455e-01 2.53940277e-02 -1.76904036e-01 -2.48897517e+01] [-1.76901410e-01 2.36770226e-03 9.84225729e-01 2.72973092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48420609899999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.90, Z:27.32 [[ 1.33121901e-02 9.99900671e-01 4.62964654e-03 1.53426060e+01] [-9.84629553e-01 1.39149822e-02 -1.74100596e-01 -2.49049563e+01] [-1.74147724e-01 -2.24082657e-03 9.84716989e-01 2.73248547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.51420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.37, Y:-24.92, Z:27.35 [[-2.64582113e-02 9.99546067e-01 1.44091583e-02 1.53654635e+01] [-9.85213417e-01 -2.36325659e-02 -1.69693913e-01 -2.49184281e+01] [-1.69276358e-01 -1.86858935e-02 9.85391471e-01 2.73544289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.544206098999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.33, Y:-24.93, Z:27.38 [[ 3.59044891e-02 9.99354183e-01 -1.44377646e-03 1.53329891e+01] [-9.84408325e-01 3.51185131e-02 -1.72357013e-01 -2.49314085e+01] [-1.72194999e-01 7.60965608e-03 9.85033490e-01 2.73797386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.57420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.36, Y:-24.95, Z:27.41 [[-1.41249973e-02 9.99849152e-01 1.01073540e-02 1.53595308e+01] [-9.85853852e-01 -1.22374849e-02 -1.67159883e-01 -2.49454467e+01] [-1.67010979e-01 -1.23255068e-02 9.85877992e-01 2.74110588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.60420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.35, Y:-24.96, Z:27.44 [[ 7.19499197e-03 9.99970319e-01 2.75568451e-03 1.53486769e+01] [-9.85913117e-01 7.55430183e-03 -1.67087574e-01 -2.49586008e+01] [-1.67103432e-01 -1.51467175e-03 9.85938207e-01 2.74416656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.63420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.34, Y:-24.97, Z:27.47 [[ 3.39742896e-02 9.99413138e-01 -4.37348591e-03 1.53352975e+01] [-9.85076905e-01 3.27475154e-02 -1.68970685e-01 -2.49740088e+01] [-1.68728302e-01 1.00488790e-02 9.85611374e-01 2.74693937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66420609899999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:15.35, Y:-24.99, Z:27.50 [[ 2.45352588e-03 9.99983294e-01 5.23374516e-03 1.53528065e+01] [-9.86052090e-01 3.29027793e-03 -1.66404480e-01 -2.49873673e+01] [-1.66418920e-01 -4.75246766e-03 9.86043689e-01 2.74961110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.69420609899999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:15.37, Y:-25.00, Z:27.53 [[-1.99205884e-02 9.99759002e-01 9.22539927e-03 1.53657681e+01] [-9.86855405e-01 -1.81817104e-02 -1.60579684e-01 -2.50004360e+01] [-1.60373251e-01 -1.23029769e-02 9.86979765e-01 2.75251908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.724206098999986 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:15.35, Y:-25.01, Z:27.55 [[ 2.06206566e-02 9.99783635e-01 -2.73342274e-03 1.53457558e+01] [-9.86132261e-01 1.98886247e-02 -1.64765310e-01 -2.50131514e+01] [-1.64675296e-01 6.09308522e-03 9.86329013e-01 2.75538056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.75420609899999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:15.37, Y:-25.03, Z:27.58 [[-1.68027389e-02 9.99835284e-01 6.86101931e-03 1.53661258e+01] [-9.87088416e-01 -1.54945221e-02 -1.59425149e-01 -2.50269222e+01] [-1.59292581e-01 -9.45121184e-03 9.87186177e-01 2.75834928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78420609899999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:15.35, Y:-25.04, Z:27.61 [[ 2.26469513e-02 9.99737719e-01 -3.40720188e-03 1.53451219e+01] [-9.86437617e-01 2.17912240e-02 -1.62683649e-01 -2.50417218e+01] [-1.62566733e-01 7.04528077e-03 9.86672398e-01 2.76108772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.81420609899999 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:15.37, Y:-25.05, Z:27.64 [[-2.54282098e-02 9.99646658e-01 7.74373315e-03 1.53712179e+01] [-9.87168047e-01 -2.38877141e-02 -1.57888011e-01 -2.50548799e+01] [-1.57647243e-01 -1.16591754e-02 9.87426661e-01 2.76415123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84420609899999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:15.36, Y:-25.07, Z:27.67 [[-3.79986534e-03 9.99992464e-01 7.95538464e-04 1.53599533e+01] [-9.87498888e-01 -3.62702581e-03 -1.57584235e-01 -2.50674132e+01] [-1.57580162e-01 -1.38439222e-03 9.87505228e-01 2.76725044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.87420609899999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:15.35, Y:-25.08, Z:27.70 [[ 1.26420771e-02 9.99917453e-01 -2.29462636e-03 1.53512798e+01] [-9.87487168e-01 1.21240996e-02 -1.57232626e-01 -2.50819131e+01] [-1.57191826e-01 4.25366106e-03 9.87558928e-01 2.77002819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.904206098999985 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:15.37, Y:-25.09, Z:27.73 [[-2.27423924e-02 9.99728163e-01 5.13654111e-03 1.53713210e+01] [-9.87139940e-01 -2.16422471e-02 -1.58386718e-01 -2.50945879e+01] [-1.58232496e-01 -8.67257777e-03 9.87363795e-01 2.77313955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.93420609899999 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:15.37, Y:-25.11, Z:27.76 [[-1.00446852e-02 9.99949548e-01 7.54099729e-05 1.53650299e+01] [-9.87443268e-01 -9.90716728e-03 -1.57663058e-01 -2.51091560e+01] [-1.57654356e-01 -1.65813886e-03 9.87492964e-01 2.77614681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96420609899999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:15.35, Y:-25.12, Z:27.79 [[ 1.77901846e-02 9.99827830e-01 -5.27440978e-03 1.53504835e+01] [-9.86658807e-01 1.67015653e-02 -1.61942756e-01 -2.51222905e+01] [-1.61826784e-01 8.08503439e-03 9.86786058e-01 2.77894720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.99420609899999 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:15.36, Y:-25.14, Z:27.82 [[-3.82779418e-03 9.99992340e-01 -8.16844757e-04 1.53608366e+01] [-9.86914507e-01 -3.90940848e-03 -1.61197001e-01 -2.51376481e+01] [-1.61198959e-01 1.89126999e-04 9.86921912e-01 2.78203651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.02420609899999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:15.37, Y:-25.15, Z:27.85 [[-1.55667883e-02 9.99878600e-01 6.78689240e-04 1.53679267e+01] [-9.87246959e-01 -1.52625702e-02 -1.58462916e-01 -2.51524987e+01] [-1.58433320e-01 -3.13679255e-03 9.87364696e-01 2.78482545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.05420609899999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:15.38, Y:-25.16, Z:27.88 [[-4.49053089e-02 9.98961516e-01 7.70734903e-03 1.53844271e+01] [-9.86583084e-01 -4.31340222e-02 -1.57458803e-01 -2.51644987e+01] [-1.56962836e-01 -1.46746764e-02 9.87495479e-01 2.78787923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.084206098999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.37, Y:-25.17, Z:27.88 [[-1.17637726e-02 9.99889986e-01 -9.03492435e-03 1.53671905e+01] [-9.87931968e-01 -1.30176932e-02 -1.54340426e-01 -2.51651172e+01] [-1.54441060e-01 7.11026492e-03 9.87976418e-01 2.78804336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.114206098999986 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:15.38, Y:-25.17, Z:27.89 [[-5.21207561e-02 9.98564182e-01 -1.23693549e-02 1.53821169e+01] [-9.86624748e-01 -5.34053285e-02 -1.54011291e-01 -2.51664133e+01] [-1.54450748e-01 4.17672669e-03 9.87991661e-01 2.78864781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14420609899999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:14.85, Y:-25.66, Z:27.69 [[ 0.95001059 -0.0527572 -0.30772805 14.84917859] [ -0.10399747 0.87586446 -0.47121755 -25.66220081] [ 0.29438818 0.4796646 0.82659389 27.68827483] [ 0. 0. 0. 1. ]] SLAMing on 57.17420609899999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:15.38, Y:-25.20, Z:27.95 [[-5.11917896e-02 9.98587695e-01 -1.42132038e-02 1.53814233e+01] [-9.80169246e-01 -5.29654699e-02 -1.90952632e-01 -2.52012655e+01] [-1.91435757e-01 4.15613833e-03 9.81496346e-01 2.79468421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.20420609899999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:15.39, Y:-25.27, Z:28.08 [[-7.40791687e-02 9.97196177e-01 -1.05858597e-02 1.53902771e+01] [-9.83348398e-01 -7.48085998e-02 -1.65618844e-01 -2.52745037e+01] [-1.65946392e-01 -1.85931812e-03 9.86133023e-01 2.80794471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.23420609899999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:15.40, Y:-25.28, Z:28.08 [[-8.50490760e-02 9.96334975e-01 -9.12541107e-03 1.53957919e+01] [-9.82517094e-01 -8.53847944e-02 -1.65437590e-01 -2.52760985e+01] [-1.65610428e-01 -5.10444178e-03 9.86178042e-01 2.80815168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.264206098999985 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:15.86, Y:-25.59, Z:27.63 [[ -0.96374347 0.05693933 0.26068455 15.86193543] [ -0.15628123 -0.91231336 -0.3784977 -25.58801939] [ 0.21627459 -0.40551479 0.8881346 27.62894817] [ 0. 0. 0. 1. ]] SLAMing on 57.294206098999986 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:15.38, Y:-25.15, Z:27.85 [[-6.42118018e-02 9.97804660e-01 1.62081720e-02 1.53843825e+01] [-9.85454300e-01 -6.08394960e-02 -1.58676964e-01 -2.51542218e+01] [-1.57342517e-01 -2.61613465e-02 9.87197506e-01 2.78512980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.32420609899999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:15.35, Y:-25.17, Z:27.88 [[-8.65912006e-03 9.99961942e-01 1.06517654e-03 1.53549364e+01] [-9.87454467e-01 -8.38284737e-03 -1.57681332e-01 -2.51663819e+01] [-1.57666402e-01 -2.41719492e-03 9.87489475e-01 2.78802338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.35420609899999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:15.37, Y:-25.18, Z:27.91 [[-3.33438248e-02 9.99431077e-01 5.07066832e-03 1.53710427e+01] [-9.87010634e-01 -3.21308204e-02 -1.57409083e-01 -2.51812706e+01] [-1.57156604e-01 -1.02534244e-02 9.87520465e-01 2.79077136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.38420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:15.38, Y:-25.19, Z:27.93 [[-5.46590941e-02 9.98453124e-01 1.01854279e-02 1.53839137e+01] [-9.86084784e-01 -5.23724775e-02 -1.57778081e-01 -2.51944635e+01] [-1.57000582e-01 -1.86677025e-02 9.87422065e-01 2.79342730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.41420609899999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:15.37, Y:-25.21, Z:27.96 [[-3.40926808e-02 9.99415626e-01 2.46912277e-03 1.53734794e+01] [-9.87404597e-01 -3.33008274e-02 -1.54671316e-01 -2.52093273e+01] [-1.54498706e-01 -7.71118297e-03 9.87962898e-01 2.79637776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44420609899999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:15.38, Y:-25.22, Z:27.99 [[-5.22818348e-02 9.98605788e-01 7.28629071e-03 1.53847341e+01] [-9.86744771e-01 -5.05356614e-02 -1.54210585e-01 -2.52229950e+01] [-1.53627365e-01 -1.52521216e-02 9.88011136e-01 2.79923494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.474206098999986 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:15.80, Y:-25.42, Z:27.71 [[ -0.86334629 0.44178146 0.24384898 15.79911445] [ -0.49269469 -0.84240012 -0.21820627 -25.4198319 ] [ 0.10901893 -0.30853067 0.9449464 27.71082379] [ 0. 0. 0. 1. ]] SLAMing on 57.50420609899999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:15.42, Y:-25.16, Z:27.83 [[ -0.14501584 0.98830278 0.04720204 15.42305209] [ -0.98659372 -0.1408264 -0.08246669 -25.16375766] [ -0.07485476 -0.05852821 0.99547537 27.83303184] [ 0. 0. 0. 1. ]] SLAMing on 57.53420609899999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:15.33, Y:-25.17, Z:27.87 [[ 3.06403338e-02 9.99526632e-01 -2.77169079e-03 1.53309153e+01] [-9.95981577e-01 3.02979584e-02 -8.42777080e-02 -2.51671085e+01] [-8.41538371e-02 5.34285007e-03 9.96438451e-01 2.78667718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.56420609899999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:15.35, Y:-25.18, Z:27.89 [[ 5.17337607e-03 9.99984985e-01 1.80724109e-03 1.53456490e+01] [-9.96610750e-01 5.30427949e-03 -8.20906723e-02 -2.51808800e+01] [-8.20990258e-02 -1.37642998e-03 9.96623226e-01 2.78944899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.59420609899999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:15.36, Y:-25.19, Z:27.93 [[-2.36431001e-02 9.99710580e-01 4.44518344e-03 1.53629287e+01] [-9.96765622e-01 -2.32313743e-02 -7.69324237e-02 -2.51922109e+01] [-7.68068902e-02 -6.24972703e-03 9.97026400e-01 2.79254755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62420609899999 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:15.36, Y:-25.20, Z:27.96 [[-1.45292851e-02 9.99893639e-01 1.26900916e-03 1.53588977e+01] [-9.96839409e-01 -1.43857468e-02 -7.81296567e-02 -2.52020440e+01] [-7.81030911e-02 -2.40016639e-03 9.96942399e-01 2.79565962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.654206098999985 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:15.35, Y:-25.21, Z:27.98 [[-3.63837888e-03 9.99992531e-01 1.30426123e-03 1.53533372e+01] [-9.96752488e-01 -3.52166272e-03 -8.04492121e-02 -2.52143418e+01] [-8.04440180e-02 -1.59273034e-03 9.96757856e-01 2.79844858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68420609899999 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:15.37, Y:-25.22, Z:28.02 [[-2.46702522e-02 9.99689548e-01 3.49085568e-03 1.53659196e+01] [-9.96740038e-01 -2.43288482e-02 -7.69246599e-02 -2.52249182e+01] [-7.68158500e-02 -5.37722638e-03 9.97030797e-01 2.80159777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.71420609899999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:15.36, Y:-25.24, Z:28.04 [[-1.14894680e-02 9.99930322e-01 2.70988093e-03 1.53590875e+01] [-9.96681010e-01 -1.12336268e-02 -8.06273529e-02 -2.52355586e+01] [-8.05912932e-02 -3.62725225e-03 9.96740632e-01 2.80448515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74420609899999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:15.36, Y:-25.25, Z:28.07 [[-1.04608214e-02 9.99943185e-01 2.04889291e-03 1.53602104e+01] [-9.96746475e-01 -1.02635722e-02 -7.99445045e-02 -2.52480151e+01] [-7.99189334e-02 -2.87851197e-03 9.96797210e-01 2.80733767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.77420609899999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:15.37, Y:-25.26, Z:28.10 [[-2.77897874e-02 9.99589149e-01 7.01859310e-03 1.53691101e+01] [-9.96593150e-01 -2.71597006e-02 -7.78745442e-02 -2.52595558e+01] [-7.76519265e-02 -9.15879883e-03 9.96938461e-01 2.81031687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80420609899999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:15.36, Y:-25.27, Z:28.13 [[-6.23813219e-03 9.99980531e-01 1.52134742e-04 1.53589093e+01] [-9.96841493e-01 -6.20650473e-03 -7.91739616e-02 -2.52700140e+01] [-7.91714759e-02 -6.45551862e-04 9.96860803e-01 2.81349929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.834206098999985 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:15.36, Y:-25.28, Z:28.16 [[-1.63369356e-02 9.99864930e-01 1.79633959e-03 1.53649291e+01] [-9.96810161e-01 -1.61466047e-02 -7.81587556e-02 -2.52814451e+01] [-7.81191939e-02 -3.06748411e-03 9.96939307e-01 2.81649067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.864206098999986 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:15.37, Y:-25.29, Z:28.19 [[-2.44589120e-02 9.99699910e-01 1.36043416e-03 1.53689553e+01] [-9.96949784e-01 -2.42906939e-02 -7.41693307e-02 -2.52945123e+01] [-7.41140274e-02 -3.17038567e-03 9.97244734e-01 2.81940956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.89420609899999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:15.37, Y:-25.30, Z:28.22 [[-1.51560581e-02 9.99883144e-01 -1.99830856e-03 1.53651822e+01] [-9.97049494e-01 -1.52634535e-02 -7.52285400e-02 -2.53042111e+01] [-7.52502501e-02 8.52244417e-04 9.97164316e-01 2.82237878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92420609899999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:15.37, Y:-25.32, Z:28.25 [[-2.20894170e-02 9.99755580e-01 -9.15841804e-04 1.53695795e+01] [-9.97089130e-01 -2.20973498e-02 -7.29724157e-02 -2.53160079e+01] [-7.29748174e-02 -6.98742212e-04 9.97333539e-01 2.82535060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.95420609899999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:15.37, Y:-25.33, Z:28.28 [[-2.36170292e-02 9.99720996e-01 4.07488800e-04 1.53704722e+01] [-9.97115847e-01 -2.35260751e-02 -7.21561555e-02 -2.53276800e+01] [-7.21264371e-02 -2.11042757e-03 9.97393264e-01 2.82847927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98420609899999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:15.37, Y:-25.32, Z:28.28 [[-2.57120044e-02 9.99640770e-01 -7.56464888e-03 1.53701895e+01] [-9.96678396e-01 -2.62192679e-02 -7.71020463e-02 -2.53248769e+01] [-7.72726885e-02 5.55707395e-03 9.96994509e-01 2.82805442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.014206098999985 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:15.86, Y:-25.80, Z:28.13 [[ -0.96753788 0.04193538 0.24922256 15.85978697] [ -0.10823637 -0.95987886 -0.25868408 -25.79758764] [ 0.22837545 -0.27726159 0.93325809 28.13010241] [ 0. 0. 0. 1. ]] SLAMing on 58.044206098999986 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:15.35, Y:-26.28, Z:27.94 [[-1.08117675e-02 9.96775690e-01 -7.95067831e-02 1.53536460e+01] [ 9.99546380e-01 1.30084289e-02 2.71627464e-02 -2.62839116e+01] [ 2.81094236e-02 -7.91770399e-02 -9.96464177e-01 2.79369160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.07420609899999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:15.21, Y:-25.33, Z:28.24 [[ 2.27885000e-01 -9.63780139e-01 -1.38550604e-01 1.52077346e+01] [-8.15147667e-01 -2.66664262e-01 5.14222182e-01 -2.53273919e+01] [-5.32543621e-01 -4.24432014e-03 -8.46391917e-01 2.82375060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10420609899999 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:15.20, Y:-25.33, Z:28.24 [[ 2.45571579e-01 -9.57300659e-01 -1.52545232e-01 1.51974622e+01] [-8.09959291e-01 -2.89088847e-01 5.10287747e-01 -2.53313351e+01] [-5.32597922e-01 -1.75673991e-03 -8.46366568e-01 2.82394657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.13420609899999 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:15.51, Y:-26.26, Z:27.94 [[-3.37822524e-01 9.37177997e-01 -8.70249651e-02 1.55138796e+01] [ 9.40264816e-01 3.40179945e-01 1.34045029e-02 -2.62563170e+01] [ 4.21665531e-02 -7.72981698e-02 -9.96115944e-01 2.79364222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16420609899999 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:15.62, Y:-26.19, Z:27.94 [[-5.65639851e-01 8.21344950e-01 -7.37836864e-02 1.56213042e+01] [ 8.24381714e-01 5.65478540e-01 -2.50761055e-02 -2.61921305e+01] [ 2.11269586e-02 -7.50099665e-02 -9.96958954e-01 2.79357707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.19420609899999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:15.69, Y:-25.41, Z:28.09 [[-7.04732787e-01 -7.09459916e-01 -4.28089897e-03 1.56908722e+01] [-6.66603332e-01 6.60071988e-01 3.46330720e-01 -2.54136672e+01] [-2.42882062e-01 2.46924275e-01 -9.38102716e-01 2.80930034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.224206098999986 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:14.98, Y:-25.48, Z:28.22 [[ 6.34035290e-01 -6.68547328e-01 -3.88643438e-01 1.49820904e+01] [-5.74391632e-01 -7.43642948e-01 3.42154087e-01 -2.54772023e+01] [-5.17758153e-01 6.29577253e-03 -8.55503862e-01 2.82199409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.25420609899999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:15.06, Y:-26.22, Z:28.08 [[ 4.96274437e-01 7.77267669e-01 -3.86738482e-01 1.50630209e+01] [ 8.39943419e-01 -5.42529183e-01 -1.25354628e-02 -2.62179849e+01] [-2.19560323e-01 -3.18617413e-01 -9.22104229e-01 2.80794117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:14.98, Y:-25.49, Z:28.26 [[ 6.23453655e-01 -6.43497542e-01 -4.44090592e-01 1.49829938e+01] [-5.35330311e-01 -7.65302865e-01 3.57397513e-01 -2.54946279e+01] [-5.69848224e-01 1.49143686e-02 -8.21614608e-01 2.82565158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.31420609899999 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:15.73, Y:-26.10, Z:27.94 [[ -0.78320709 0.61683778 -0.07808846 15.72616388] [ 0.62088424 0.78257709 -0.04556146 -26.09648058] [ 0.03300621 -0.08416795 -0.99590479 27.94289626] [ 0. 0. 0. 1. ]] SLAMing on 58.34420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:15.57, Y:-25.34, Z:28.07 [[ -0.50002453 -0.85900677 -0.10992196 15.56775506] [ -0.83028981 0.43944302 0.34279536 -25.33603646] [ -0.2461591 0.26267317 -0.93295686 28.07142501] [ 0. 0. 0. 1. ]] SLAMing on 58.37420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.89, Y:-25.61, Z:28.22 [[ 7.87436541e-01 -3.87716975e-01 -4.79186020e-01 1.48937746e+01] [-3.32466388e-01 -9.21775775e-01 1.99488150e-01 -2.56123982e+01] [-5.19047007e-01 2.22898640e-03 -8.54742790e-01 2.82166796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.404206098999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.81, Y:-25.97, Z:27.96 [[-9.32549476e-01 3.60775838e-01 -1.38661455e-02 1.58053282e+01] [ 3.60609668e-01 9.28865676e-01 -8.46712639e-02 -2.59706843e+01] [-1.76675596e-02 -8.39604089e-02 -9.96312455e-01 2.79571715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.43420609899999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:14.87, Y:-25.75, Z:28.24 [[ 8.37070832e-01 -9.36889084e-02 -5.39012811e-01 1.48731755e+01] [-8.08259678e-02 -9.95594343e-01 4.75296441e-02 -2.57547700e+01] [-5.41091106e-01 3.78055336e-03 -8.40955482e-01 2.82439966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46420609899999 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] Translation: X:15.33, Y:-26.29, Z:28.10 [[ -0.03955741 0.93833329 -0.34346156 15.33273359] [ 0.96323256 -0.0556055 -0.26285179 -26.29439754] [ -0.26574094 -0.34123109 -0.90163357 28.09891014] [ 0. 0. 0. 1. ]] SLAMing on 58.49420609899999 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:15.84, Y:-25.84, Z:27.95 [[ -0.80525912 -0.04220277 0.5914192 15.8353019 ] [ 0.08714497 -0.99505547 0.04764842 -25.83623608] [ 0.58648402 0.08990854 0.80495525 27.9472435 ] [ 0. 0. 0. 1. ]] SLAMing on 58.52420609899999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:15.78, Y:-26.07, Z:28.02 [[-7.24512988e-01 -3.40986268e-01 5.99006924e-01 1.57848273e+01] [ 4.40898533e-01 -8.97274866e-01 2.25010839e-02 -2.60708067e+01] [ 5.29801297e-01 2.80403601e-01 8.00427640e-01 2.80232262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.55420609899999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:14.94, Y:-26.03, Z:28.42 [[ 0.90196572 -0.39807502 0.16731442 14.94068888] [ 0.39912248 0.91644511 0.02880273 -26.03092228] [ -0.16480013 0.04079988 0.98548277 28.41579104] [ 0. 0. 0. 1. ]] SLAMing on 58.584206098999985 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:14.94, Y:-25.99, Z:28.44 [[ 9.32629384e-01 -3.24101414e-01 1.58621264e-01 1.49358815e+01] [ 3.20232001e-01 9.46013575e-01 5.00977163e-02 -2.59859445e+01] [-1.66294609e-01 4.07300236e-03 9.86067702e-01 2.84397614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.614206098999986 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:14.95, Y:-25.97, Z:28.47 [[ 9.38272052e-01 -3.09324941e-01 1.54801931e-01 1.49452942e+01] [ 3.04428427e-01 9.50945842e-01 5.50030754e-02 -2.59739360e+01] [-1.64222075e-01 -4.48174019e-03 9.86413212e-01 2.84650693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64420609899999 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:14.96, Y:-25.97, Z:28.49 [[ 9.35435538e-01 -3.17680879e-01 1.55045841e-01 1.49595008e+01] [ 3.13244613e-01 9.48197234e-01 5.29133032e-02 -2.59743425e+01] [-1.63823582e-01 -9.29709655e-04 9.86489214e-01 2.84912579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.67420609899999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:14.97, Y:-25.95, Z:28.52 [[ 9.47682862e-01 -2.82357343e-01 1.48901052e-01 1.49650348e+01] [ 2.76359698e-01 9.59181018e-01 5.99757590e-02 -2.59509428e+01] [-1.59757659e-01 -1.56877491e-02 9.87031603e-01 2.85189513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.70420609899999 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:14.98, Y:-25.96, Z:28.55 [[ 9.38267917e-01 -3.11598118e-01 1.50199630e-01 1.49807494e+01] [ 3.07310156e-01 9.50211383e-01 5.15635050e-02 -2.59644480e+01] [-1.58788490e-01 -2.22251060e-03 9.87310121e-01 2.85450714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.73420609899999 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:15.00, Y:-25.97, Z:28.57 [[ 9.28945492e-01 -3.36832499e-01 1.53636389e-01 1.49974536e+01] [ 3.33644041e-01 9.41532976e-01 4.68754605e-02 -2.59739963e+01] [-1.60442905e-01 7.71511805e-03 9.87014970e-01 2.85670644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.764206098999985 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:15.00, Y:-25.95, Z:28.59 [[ 9.41163564e-01 -3.01953676e-01 1.51773260e-01 1.49990322e+01] [ 2.96675210e-01 9.53284920e-01 5.68478821e-02 -2.59513153e+01] [-1.61848587e-01 -8.47579148e-03 9.86779203e-01 2.85941532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.794206098999986 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:15.02, Y:-25.96, Z:28.62 [[ 9.35181464e-01 -3.21640905e-01 1.48265833e-01 1.50177006e+01] [ 3.17527824e-01 9.46861319e-01 5.12808338e-02 -2.59580232e+01] [-1.56881196e-01 -8.78357920e-04 9.87617091e-01 2.86176910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82420609899999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:15.02, Y:-25.95, Z:28.65 [[ 9.42069733e-01 -3.04198637e-01 1.41307495e-01 1.50225633e+01] [ 2.99259673e-01 9.52556147e-01 5.55016656e-02 -2.59450328e+01] [-1.51486854e-01 -9.99880466e-03 9.88408699e-01 2.86453442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.85420609899999 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:15.04, Y:-25.96, Z:28.67 [[ 9.32564670e-01 -3.33166347e-01 1.39008350e-01 1.50376798e+01] [ 3.29437748e-01 9.42867896e-01 4.97081493e-02 -2.59562421e+01] [-1.47627593e-01 -5.61466078e-04 9.89042860e-01 2.86713892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.05, Y:-25.95, Z:28.70 [[ 9.33959185e-01 -3.32755499e-01 1.30361108e-01 1.50499736e+01] [ 3.29407601e-01 9.43012561e-01 4.70950367e-02 -2.59517657e+01] [-1.38603295e-01 -1.04290228e-03 9.90347434e-01 2.86972661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.91420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.07, Y:-25.97, Z:28.72 [[ 9.20896852e-01 -3.65200251e-01 1.36300278e-01 1.50674692e+01] [ 3.63253682e-01 9.30840075e-01 3.97934398e-02 -2.59668261e+01] [-1.41406335e-01 1.28659243e-02 9.89868030e-01 2.87205998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.944206098999985 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:15.07, Y:-25.94, Z:28.75 [[ 9.39136960e-01 -3.20064637e-01 1.24821468e-01 1.50693942e+01] [ 3.15967649e-01 9.47350180e-01 5.18852672e-02 -2.59365520e+01] [-1.34856280e-01 -9.28782626e-03 9.90821639e-01 2.87488963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.974206098999986 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:15.09, Y:-25.95, Z:28.77 [[ 9.29727486e-01 -3.45767478e-01 1.26695122e-01 1.50852118e+01] [ 3.42886048e-01 9.38318128e-01 4.45897874e-02 -2.59471135e+01] [-1.34298028e-01 1.98563892e-03 9.90938998e-01 2.87748124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.00420609899999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:15.10, Y:-25.95, Z:28.80 [[ 9.25002343e-01 -3.54757347e-01 1.36080451e-01 1.50955617e+01] [ 3.51857308e-01 9.34941158e-01 4.56230860e-02 -2.59497329e+01] [-1.43412340e-01 5.67943980e-03 9.89646727e-01 2.88005029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.03420609899999 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:15.11, Y:-25.95, Z:28.82 [[ 9.23137191e-01 -3.61421118e-01 1.31120185e-01 1.51093400e+01] [ 3.58853991e-01 9.32377481e-01 4.35436162e-02 -2.59476687e+01] [-1.37991090e-01 6.85626992e-03 9.90409739e-01 2.88224192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06420609899999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:15.12, Y:-25.94, Z:28.85 [[ 9.23874687e-01 -3.59527216e-01 1.31132543e-01 1.51205878e+01] [ 3.56872914e-01 9.33114555e-01 4.40335096e-02 -2.59420056e+01] [-1.38192929e-01 6.11620770e-03 9.90386443e-01 2.88495805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.09420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.13, Y:-25.93, Z:28.87 [[ 9.29497900e-01 -3.45919440e-01 1.27958570e-01 1.51298963e+01] [ 3.42628898e-01 9.38264131e-01 4.76010480e-02 -2.59308582e+01] [-1.36525064e-01 -4.02770454e-04 9.90636535e-01 2.88741979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.14, Y:-25.93, Z:28.90 [[ 9.28021792e-01 -3.50299863e-01 1.26749992e-01 1.51410963e+01] [ 3.47133052e-01 9.36637528e-01 4.69977166e-02 -2.59294892e+01] [-1.35182093e-01 3.84206312e-04 9.90820697e-01 2.88982490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.154206098999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.15, Y:-25.91, Z:28.93 [[ 9.38327694e-01 -3.24878011e-01 1.18302223e-01 1.51474416e+01] [ 3.21083338e-01 9.45710394e-01 5.03720320e-02 -2.59108759e+01] [-1.28244408e-01 -9.28059990e-03 9.91699169e-01 2.89268113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18420609899999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:15.16, Y:-25.92, Z:28.95 [[ 9.27790017e-01 -3.52981038e-01 1.20872129e-01 1.51626043e+01] [ 3.50318615e-01 9.35628012e-01 4.33254055e-02 -2.59243397e+01] [-1.28384397e-01 2.14687818e-03 9.91722157e-01 2.89532821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.21420609899999 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:15.17, Y:-25.92, Z:28.98 [[ 9.26446131e-01 -3.54611912e-01 1.26285228e-01 1.51732331e+01] [ 3.51834849e-01 9.35007811e-01 4.44143285e-02 -2.59225621e+01] [-1.33827525e-01 3.28406139e-03 9.90999197e-01 2.89789772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24420609899999 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:15.19, Y:-25.93, Z:29.00 [[ 9.19566598e-01 -3.72501553e-01 1.25059444e-01 1.51893575e+01] [ 3.70619189e-01 9.27971010e-01 3.88744398e-02 -2.59291923e+01] [-1.30532328e-01 1.06017933e-02 9.91387368e-01 2.90023405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.27420609899999 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:15.19, Y:-25.90, Z:29.03 [[ 9.38776914e-01 -3.25108451e-01 1.14028073e-01 1.51914982e+01] [ 3.21438159e-01 9.45623449e-01 4.97373273e-02 -2.58988328e+01] [-1.23997645e-01 -1.00392806e-02 9.92231725e-01 2.90295550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.30420609899999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:15.21, Y:-25.93, Z:29.05 [[ 9.16456961e-01 -3.80072209e-01 1.25106975e-01 1.52127548e+01] [ 3.78661278e-01 9.24842297e-01 3.58100753e-02 -2.59266075e+01] [-1.29314636e-01 1.45547743e-02 9.91496789e-01 2.90543618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.334206098999985 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:15.21, Y:-25.89, Z:29.08 [[ 9.39962417e-01 -3.21746925e-01 1.13796181e-01 1.52128144e+01] [ 3.18041199e-01 9.46765688e-01 4.98450348e-02 -2.58899594e+01] [-1.23775806e-01 -1.06605855e-02 9.92252942e-01 2.90818818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.364206098999986 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:15.24, Y:-25.92, Z:29.11 [[ 9.16759367e-01 -3.80053456e-01 1.22929387e-01 1.52357771e+01] [ 3.78731287e-01 9.24849480e-01 3.48719331e-02 -2.59197246e+01] [-1.26944378e-01 1.45880336e-02 9.91802558e-01 2.91062529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.39420609899999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:15.24, Y:-25.90, Z:29.13 [[ 9.30821703e-01 -3.46555754e-01 1.16060614e-01 1.52392595e+01] [ 3.43579294e-01 9.38026384e-01 4.53847059e-02 -2.58968194e+01] [-1.24596249e-01 -2.36904542e-03 9.92204698e-01 2.91295090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42420609899999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:15.25, Y:-25.88, Z:29.16 [[ 9.37938443e-01 -3.28969312e-01 1.09775541e-01 1.52469044e+01] [ 3.25636341e-01 9.44299219e-01 4.75390185e-02 -2.58830392e+01] [-1.19299836e-01 -8.84176747e-03 9.92818902e-01 2.91575309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.45420609899999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:15.27, Y:-25.91, Z:29.18 [[ 9.18900615e-01 -3.76689803e-01 1.17159944e-01 1.52670563e+01] [ 3.75196179e-01 9.26269014e-01 3.54053914e-02 -2.59069675e+01] [-1.21858475e-01 1.14239272e-02 9.92481741e-01 2.91816585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48420609899999 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:15.27, Y:-25.88, Z:29.21 [[ 9.38631915e-01 -3.28074623e-01 1.06476146e-01 1.52678875e+01] [ 3.24894988e-01 9.44608914e-01 4.64461644e-02 -2.58758504e+01] [-1.15816124e-01 -9.00228614e-03 9.93229875e-01 2.92095748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.514206098999985 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:15.29, Y:-25.90, Z:29.23 [[ 9.17747050e-01 -3.80192065e-01 1.14866643e-01 1.52903687e+01] [ 3.78973249e-01 9.24814407e-01 3.31298761e-02 -2.59014293e+01] [-1.18826043e-01 1.31265390e-02 9.92828316e-01 2.92335380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.544206098999986 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:15.29, Y:-25.88, Z:29.26 [[ 9.30797598e-01 -3.49127247e-01 1.08286645e-01 1.52942557e+01] [ 3.46728146e-01 9.37075199e-01 4.08615322e-02 -2.58790956e+01] [-1.15738604e-01 -4.87788209e-04 9.93279587e-01 2.92593722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.57420609899999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:15.31, Y:-25.87, Z:29.28 [[ 9.33914290e-01 -3.39894362e-01 1.10796760e-01 1.53075780e+01] [ 3.37271638e-01 9.40461419e-01 4.21919566e-02 -2.58731887e+01] [-1.18540886e-01 -2.03506656e-03 9.92947087e-01 2.92829310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.32, Y:-25.86, Z:29.31 [[ 9.43757854e-01 -3.13577741e-01 1.04833738e-01 1.53157936e+01] [ 3.10283040e-01 9.49491079e-01 4.68094639e-02 -2.58568766e+01] [-1.14217105e-01 -1.16486683e-02 9.93387518e-01 2.93097268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.63420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.33, Y:-25.87, Z:29.33 [[ 9.34993801e-01 -3.35442445e-01 1.15173601e-01 1.53298129e+01] [ 3.32646825e-01 9.42058259e-01 4.32703931e-02 -2.58670289e+01] [-1.23014969e-01 -2.14541650e-03 9.92402496e-01 2.93347286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.34, Y:-25.86, Z:29.36 [[ 9.36509099e-01 -3.32384912e-01 1.11673529e-01 1.53420237e+01] [ 3.29690383e-01 9.43139588e-01 4.23316538e-02 -2.58611132e+01] [-1.19394129e-01 -2.82629055e-03 9.92842915e-01 2.93600640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.694206098999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.36, Y:-25.87, Z:29.38 [[ 9.24709612e-01 -3.61576439e-01 1.19057178e-01 1.53601950e+01] [ 3.59564647e-01 9.32316207e-01 3.87266790e-02 -2.58723707e+01] [-1.25001591e-01 6.99781978e-03 9.92131863e-01 2.93827748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.724206098999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.37, Y:-25.86, Z:29.41 [[ 9.32713450e-01 -3.41570556e-01 1.15651092e-01 1.53670565e+01] [ 3.38757559e-01 9.39854679e-01 4.37778211e-02 -2.58574323e+01] [-1.23648434e-01 -1.65448110e-03 9.92324709e-01 2.94089711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.75420609899999 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:15.37, Y:-25.84, Z:29.44 [[ 9.41822700e-01 -3.17924291e-01 1.09060288e-01 1.53734681e+01] [ 3.14514779e-01 9.48057433e-01 4.76188806e-02 -2.58407485e+01] [-1.18534615e-01 -1.05474704e-02 9.92893900e-01 2.94369078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78420609899999 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:15.40, Y:-25.86, Z:29.46 [[ 9.23209158e-01 -3.66501618e-01 1.15591582e-01 1.53957631e+01] [ 3.64834143e-01 9.30374833e-01 3.60377381e-02 -2.58644239e+01] [-1.20751389e-01 8.90138607e-03 9.92642870e-01 2.94607184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.81420609899999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:15.40, Y:-25.84, Z:29.49 [[ 9.40086249e-01 -3.23903548e-01 1.06415864e-01 1.53975775e+01] [ 3.20932504e-01 9.46059474e-01 4.44274599e-02 -2.58372157e+01] [-1.15065948e-01 -7.61333454e-03 9.93328679e-01 2.94862326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84420609899999 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:15.40, Y:-25.82, Z:29.51 [[ 9.48104529e-01 -3.00484706e-01 1.03955485e-01 1.54016963e+01] [ 2.97010167e-01 9.53677308e-01 4.77970076e-02 -2.58209016e+01] [-1.13502257e-01 -1.44407234e-02 9.93432787e-01 2.95111286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.87420609899999 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:15.41, Y:-25.81, Z:29.54 [[ 9.52428264e-01 -2.85989893e-01 1.05309934e-01 1.54061382e+01] [ 2.82093073e-01 9.58055679e-01 5.05253881e-02 -2.58078708e+01] [-1.15342530e-01 -1.84146049e-02 9.93155075e-01 2.95367231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.904206098999985 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:15.42, Y:-25.82, Z:29.56 [[ 9.46061511e-01 -3.05979432e-01 1.06509174e-01 1.54193030e+01] [ 3.02837872e-01 9.51983068e-01 4.49161618e-02 -2.58152902e+01] [-1.15138352e-01 -1.02384402e-02 9.93296700e-01 2.95620421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.93420609899999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:15.42, Y:-25.80, Z:29.59 [[ 9.55273584e-01 -2.76211765e-01 1.05638252e-01 1.54202960e+01] [ 2.71920574e-01 9.60839315e-01 5.33573982e-02 -2.57953021e+01] [-1.16239327e-01 -2.22456989e-02 9.92972078e-01 2.95887488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.45, Y:-25.83, Z:29.62 [[ 9.29876317e-01 -3.51047251e-01 1.09981197e-01 1.54472357e+01] [ 3.50041683e-01 9.36286298e-01 2.89618595e-02 -2.58313560e+01] [-1.13140869e-01 1.15670560e-02 9.93511624e-01 2.96173943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.99420609899999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:15.45, Y:-25.80, Z:29.64 [[ 9.45401193e-01 -3.08099189e-01 1.06261351e-01 1.54489384e+01] [ 3.05540252e-01 9.51339288e-01 3.99839119e-02 -2.58041219e+01] [-1.13409609e-01 -5.33371801e-03 9.93534001e-01 2.96435543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.02420609899999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:15.46, Y:-25.80, Z:29.67 [[ 9.45229220e-01 -3.07941558e-01 1.08229931e-01 1.54571491e+01] [ 3.05260909e-01 9.51388464e-01 4.09361351e-02 -2.57999873e+01] [-1.15574645e-01 -5.65566399e-03 9.93282696e-01 2.96703582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.05420609899999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:15.47, Y:-25.79, Z:29.70 [[ 9.46278051e-01 -3.04376659e-01 1.09145313e-01 1.54670440e+01] [ 3.01629369e-01 9.52532087e-01 4.12595104e-02 -2.57938065e+01] [-1.16522845e-01 -6.12153717e-03 9.93169146e-01 2.96960770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.084206098999985 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:15.47, Y:-25.79, Z:29.72 [[ 9.46332362e-01 -3.03258021e-01 1.11757025e-01 1.54749076e+01] [ 3.00315409e-01 9.52883920e-01 4.26953183e-02 -2.57906593e+01] [-1.19439170e-01 -6.84160478e-03 9.92817948e-01 2.97229441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.114206098999986 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:15.48, Y:-25.79, Z:29.75 [[ 9.45916798e-01 -3.04756382e-01 1.11197839e-01 1.54848895e+01] [ 3.01824244e-01 9.52405679e-01 4.27264332e-02 -2.57874943e+01] [-1.18926606e-01 -6.85344720e-03 9.92879395e-01 2.97486514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14420609899999 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:15.50, Y:-25.78, Z:29.78 [[ 9.45337768e-01 -3.06543938e-01 1.11208444e-01 1.54951057e+01] [ 3.03627494e-01 9.51833645e-01 4.26972648e-02 -2.57849395e+01] [-1.18940527e-01 -6.59739578e-03 9.92879462e-01 2.97751380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.17420609899999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:15.50, Y:-25.78, Z:29.80 [[ 9.43655884e-01 -3.11100014e-01 1.12828870e-01 1.55046895e+01] [ 3.08076214e-01 9.50354711e-01 4.37603570e-02 -2.57838163e+01] [-1.20841296e-01 -6.53482737e-03 9.92650330e-01 2.98018087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.20420609899999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:15.52, Y:-25.79, Z:29.83 [[ 9.40655719e-01 -3.19841476e-01 1.13438303e-01 1.55155972e+01] [ 3.16660076e-01 9.47445925e-01 4.55259943e-02 -2.57863633e+01] [-1.22037759e-01 -6.90290530e-03 9.92501454e-01 2.98262775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.23420609899999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:15.52, Y:-25.78, Z:29.85 [[ 9.41694206e-01 -3.17130686e-01 1.12428424e-01 1.55248758e+01] [ 3.13878375e-01 9.48347786e-01 4.60091550e-02 -2.57811020e+01] [-1.21212162e-01 -8.03770381e-03 9.92594080e-01 2.98512446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.264206098999985 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:15.54, Y:-25.78, Z:29.88 [[ 9.37959696e-01 -3.27803526e-01 1.13032990e-01 1.55366848e+01] [ 3.25038613e-01 9.44740414e-01 4.26080947e-02 -2.57828785e+01] [-1.20753918e-01 -3.22458910e-03 9.92677235e-01 2.98784138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.294206098999986 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:15.54, Y:-25.77, Z:29.90 [[ 9.45549614e-01 -3.06036440e-01 1.10804443e-01 1.55431036e+01] [ 3.02537247e-01 9.51951181e-01 4.75411718e-02 -2.57672167e+01] [-1.20029751e-01 -1.14300656e-02 9.92704494e-01 2.99030676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.32420609899999 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:15.56, Y:-25.79, Z:29.93 [[ 9.27168744e-01 -3.56270547e-01 1.15885361e-01 1.55614979e+01] [ 3.54690920e-01 9.34340031e-01 3.46851303e-02 -2.57917124e+01] [-1.20633622e-01 8.94451652e-03 9.92656801e-01 2.99320913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.35420609899999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:15.56, Y:-25.76, Z:29.96 [[ 9.48230726e-01 -2.98571928e-01 1.08227970e-01 1.55615561e+01] [ 2.94806866e-01 9.54266679e-01 4.96388607e-02 -2.57556203e+01] [-1.18099116e-01 -1.51627443e-02 9.92886041e-01 2.99565927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38420609899999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:15.58, Y:-25.77, Z:29.98 [[ 9.37300901e-01 -3.31563526e-01 1.07390170e-01 1.55778464e+01] [ 3.28950469e-01 9.43425346e-01 4.17157679e-02 -2.57699334e+01] [-1.15146035e-01 -3.77418015e-03 9.93341405e-01 2.99806371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.41420609899999 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:15.59, Y:-25.76, Z:30.01 [[ 9.38965764e-01 -3.26720854e-01 1.07688333e-01 1.55858563e+01] [ 3.23776744e-01 9.45097109e-01 4.42727326e-02 -2.57637829e+01] [-1.16240758e-01 -6.70360224e-03 9.93198443e-01 3.00085177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.444206098999985 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:15.60, Y:-25.77, Z:30.03 [[ 9.30762734e-01 -3.49282068e-01 1.08086862e-01 1.56014249e+01] [ 3.47288743e-01 9.37013565e-01 3.73645324e-02 -2.57727049e+01] [-1.14329617e-01 2.75983627e-03 9.93439038e-01 3.00341506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.474206098999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.61, Y:-25.76, Z:30.06 [[ 9.34508860e-01 -3.39585937e-01 1.06651687e-01 1.56082787e+01] [ 3.37126623e-01 9.40572401e-01 4.08558327e-02 -2.57636298e+01] [-1.14187699e-01 -2.22501456e-03 9.93456702e-01 3.00611528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.50420609899999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:15.62, Y:-25.76, Z:30.08 [[ 9.31969423e-01 -3.48136451e-01 1.01163267e-01 1.56227171e+01] [ 3.45959736e-01 9.37443044e-01 3.88895935e-02 -2.57636413e+01] [-1.08373686e-01 -1.24549500e-03 9.94109447e-01 3.00842332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.53420609899999 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:15.63, Y:-25.76, Z:30.11 [[ 9.29784090e-01 -3.54015953e-01 1.00867492e-01 1.56342390e+01] [ 3.52047058e-01 9.35239012e-01 3.72942380e-02 -2.57629777e+01] [-1.07537968e-01 8.34514534e-04 9.94200628e-01 3.01102477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56420609899999 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:15.64, Y:-25.75, Z:30.14 [[ 9.35160900e-01 -3.39108792e-01 1.02368540e-01 1.56385377e+01] [ 3.36447386e-01 9.40730798e-01 4.27635687e-02 -2.57514813e+01] [-1.10802740e-01 -5.54918970e-03 9.93826926e-01 3.01389396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.59420609899999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:15.65, Y:-25.76, Z:30.16 [[ 9.29323170e-01 -3.54927518e-01 1.01906343e-01 1.56527115e+01] [ 3.52806658e-01 9.34893820e-01 3.87428446e-02 -2.57559726e+01] [-1.09022512e-01 -5.13869209e-05 9.94039280e-01 3.01643437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.624206098999984 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:15.67, Y:-25.78, Z:30.19 [[ 9.10626055e-01 -3.98741638e-01 1.08467942e-01 1.56733431e+01] [ 3.98290509e-01 9.16869506e-01 2.67390889e-02 -2.57756379e+01] [-1.10112937e-01 1.88524408e-02 9.93740271e-01 3.01921320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.654206098999985 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:15.67, Y:-25.75, Z:30.22 [[ 9.28969201e-01 -3.55787427e-01 1.02134860e-01 1.56741378e+01] [ 3.53752094e-01 9.34566549e-01 3.80108017e-02 -2.57484021e+01] [-1.08975589e-01 8.19556615e-04 9.94044088e-01 3.02192120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68420609899999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:15.67, Y:-25.72, Z:30.24 [[ 9.43717681e-01 -3.17358803e-01 9.31682786e-02 1.56747132e+01] [ 3.13754817e-01 9.48108441e-01 5.14616297e-02 -2.57244521e+01] [-1.04665433e-01 -1.93332536e-02 9.94319553e-01 3.02427994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.71420609899999 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:15.69, Y:-25.74, Z:30.27 [[ 9.31238652e-01 -3.51420340e-01 9.64277826e-02 1.56904563e+01] [ 3.48758804e-01 9.36190770e-01 4.37508827e-02 -2.57392421e+01] [-1.05649750e-01 -7.11247495e-03 9.94377968e-01 3.02687768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74420609899999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:15.70, Y:-25.73, Z:30.30 [[ 9.32931847e-01 -3.48547952e-01 9.02911604e-02 1.56996472e+01] [ 3.45902779e-01 9.37239913e-01 4.39614802e-02 -2.57344280e+01] [-9.99471633e-02 -9.78110159e-03 9.94944669e-01 3.02959640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.77420609899999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:15.74, Y:-25.79, Z:30.32 [[ 8.82200160e-01 -4.58446428e-01 1.07469763e-01 1.57394337e+01] [ 4.59979164e-01 8.87854724e-01 1.15393829e-02 -2.57891103e+01] [-1.00707726e-01 3.92538064e-02 9.94141385e-01 3.03222072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80420609899999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:15.73, Y:-25.74, Z:30.35 [[ 9.23435112e-01 -3.73164785e-01 8.95300964e-02 1.57296219e+01] [ 3.71727020e-01 9.27760425e-01 3.28575149e-02 -2.57383759e+01] [-9.53237477e-02 2.93897304e-03 9.95441985e-01 3.03467244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.834206098999985 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:15.74, Y:-25.74, Z:30.37 [[ 9.17304830e-01 -3.87108033e-01 9.32696098e-02 1.57414992e+01] [ 3.85914992e-01 9.22005183e-01 3.12419778e-02 -2.57428797e+01] [-9.80890843e-02 7.33572359e-03 9.95150601e-01 3.03739514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.864206098999986 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:15.75, Y:-25.73, Z:30.40 [[ 9.22170323e-01 -3.76592979e-01 8.82021754e-02 1.57483539e+01] [ 3.74890125e-01 9.26378822e-01 3.57725041e-02 -2.57330430e+01] [-9.51803012e-02 7.77828079e-05 9.95460047e-01 3.03972468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.89420609899999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:15.76, Y:-25.73, Z:30.42 [[ 9.20164040e-01 -3.81972540e-01 8.59948701e-02 1.57606901e+01] [ 3.80272426e-01 9.24173575e-01 3.60011793e-02 -2.57319897e+01] [-9.32256485e-02 -4.25512792e-04 9.95644915e-01 3.04199458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92420609899999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:15.76, Y:-25.69, Z:30.44 [[ 0.94921722 -0.30785122 0.06491758 15.75781462] [ 0.30454175 0.95084491 0.05610948 -25.68892373] [ -0.07899992 -0.03348997 0.99631192 30.44416256] [ 0. 0. 0. 1. ]] SLAMing on 60.95420609899999 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:15.80, Y:-25.76, Z:30.47 [[ 8.89147757e-01 -4.49482522e-01 8.59169883e-02 1.57974960e+01] [ 4.49754055e-01 8.92985511e-01 1.72674875e-02 -2.57626661e+01] [-8.44840595e-02 2.32881662e-02 9.96152651e-01 3.04711506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.79, Y:-25.72, Z:30.50 [[ 9.22440703e-01 -3.78952310e-01 7.41504910e-02 1.57908498e+01] [ 3.77095715e-01 9.25387905e-01 3.81581792e-02 -2.57198088e+01] [-8.30780977e-02 -7.23682520e-03 9.96516763e-01 3.04953504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.014206098999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.80, Y:-25.72, Z:30.52 [[ 9.16487815e-01 -3.93329562e-01 7.30885763e-02 1.58033268e+01] [ 3.91798468e-01 9.19391693e-01 3.48263614e-02 -2.57240836e+01] [-8.08952674e-02 -3.28194362e-03 9.96717204e-01 3.05212559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.044206098999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.81, Y:-25.72, Z:30.55 [[ 9.14983049e-01 -3.96821342e-01 7.30673794e-02 1.58137669e+01] [ 3.95404932e-01 9.17894096e-01 3.35465186e-02 -2.57216002e+01] [-8.03800907e-02 -1.80329371e-03 9.96762654e-01 3.05462810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.07420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.81, Y:-25.70, Z:30.57 [[ 9.26829289e-01 -3.69315999e-01 6.77728670e-02 1.58145464e+01] [ 3.67359236e-01 9.29226255e-01 3.98215850e-02 -2.57033737e+01] [-7.76830759e-02 -1.20108227e-02 9.96905753e-01 3.05737123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10420609899999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:15.83, Y:-25.71, Z:30.60 [[ 9.17203337e-01 -3.92740165e-01 6.70313495e-02 1.58297187e+01] [ 3.91500094e-01 9.19646219e-01 3.12811049e-02 -2.57125298e+01] [-7.39304734e-02 -2.44835409e-03 9.97260393e-01 3.06011989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.13420609899999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:15.84, Y:-25.71, Z:30.63 [[ 9.14550971e-01 -3.98306478e-01 7.03453739e-02 1.58397771e+01] [ 3.97108376e-01 9.17252343e-01 3.08719564e-02 -2.57118917e+01] [-7.68209592e-02 -2.99240518e-04 9.97044859e-01 3.06268041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16420609899999 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:15.85, Y:-25.71, Z:30.65 [[ 9.17132005e-01 -3.92525137e-01 6.92307951e-02 1.58464595e+01] [ 3.91242562e-01 9.19738986e-01 3.17719325e-02 -2.57050008e+01] [-7.61455434e-02 -2.05302251e-03 9.97094600e-01 3.06525600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.194206098999985 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:15.85, Y:-25.70, Z:30.68 [[ 9.17431267e-01 -3.91988848e-01 6.82979755e-02 1.58549894e+01] [ 3.90709716e-01 9.19966760e-01 3.17344870e-02 -2.57010093e+01] [-7.52714323e-02 -2.42952796e-03 9.97160122e-01 3.06779199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.224206098999986 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:15.87, Y:-25.70, Z:30.70 [[ 9.13552883e-01 -4.01745130e-01 6.34190837e-02 1.58679500e+01] [ 4.00740176e-01 9.15751367e-01 2.84032578e-02 -2.57005971e+01] [-6.94869831e-02 -5.33303260e-04 9.97582716e-01 3.07041749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.25420609899999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:15.87, Y:-25.69, Z:30.73 [[ 9.20717960e-01 -3.85404576e-01 6.11698518e-02 1.58725777e+01] [ 3.84223037e-01 9.22736330e-01 3.05011890e-02 -2.56884198e+01] [-6.81989424e-02 -4.58012626e-03 9.97661228e-01 3.07323637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28420609899999 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:15.89, Y:-25.70, Z:30.76 [[ 9.08342260e-01 -4.13178047e-01 6.47938191e-02 1.58876177e+01] [ 4.12219366e-01 9.10649553e-01 2.81528922e-02 -2.56992249e+01] [-7.06366194e-02 1.13680527e-03 9.97501467e-01 3.07563487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.31420609899999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:15.89, Y:-25.68, Z:30.79 [[ 9.18223771e-01 -3.91562190e-01 5.95328254e-02 1.58908313e+01] [ 3.90516197e-01 9.20146166e-01 2.87772920e-02 -2.56823769e+01] [-6.60470006e-02 -3.17546099e-03 9.97811460e-01 3.07850665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34420609899999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:15.90, Y:-25.68, Z:30.81 [[ 9.15679489e-01 -3.97677889e-01 5.81667425e-02 1.58998873e+01] [ 3.96838886e-01 9.17524920e-01 2.58248011e-02 -2.56827207e+01] [-6.36393881e-02 -5.64415419e-04 9.97972800e-01 3.08120656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.374206098999984 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:15.91, Y:-25.68, Z:30.84 [[ 9.14766587e-01 -4.00108879e-01 5.58119675e-02 1.59082303e+01] [ 3.99332764e-01 9.16467474e-01 2.49140940e-02 -2.56807273e+01] [-6.11182031e-02 -5.03033492e-04 9.98130408e-01 3.08394853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.404206098999985 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.92, Y:-25.68, Z:30.87 [[ 9.14163106e-01 -4.01427663e-01 5.62285306e-02 1.59182269e+01] [ 4.00646191e-01 9.15890660e-01 2.50385436e-02 -2.56773344e+01] [-6.15503500e-02 -3.61566209e-04 9.98103914e-01 3.08660697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.43420609899999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:15.93, Y:-25.68, Z:30.89 [[ 9.12714414e-01 -4.04781794e-01 5.57144248e-02 1.59277065e+01] [ 4.04018651e-01 9.14413293e-01 2.48446818e-02 -2.56757835e+01] [-6.10026855e-02 -1.66432441e-04 9.98137588e-01 3.08928910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46420609899999 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:15.94, Y:-25.67, Z:30.92 [[ 9.14738545e-01 -4.00018649e-01 5.69075937e-02 1.59351535e+01] [ 3.99214252e-01 9.16506874e-01 2.53600208e-02 -2.56699884e+01] [-6.23006821e-02 -4.79466109e-04 9.98057311e-01 3.09206019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.49420609899999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:15.94, Y:-25.67, Z:30.95 [[ 9.13586335e-01 -4.02859366e-01 5.53564809e-02 1.59437587e+01] [ 4.02090829e-01 9.15261772e-01 2.48767743e-02 -2.56678543e+01] [-6.06875124e-02 -4.68747771e-04 9.98156704e-01 3.09476530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.52420609899999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:15.95, Y:-25.67, Z:30.98 [[ 9.12701467e-01 -4.04840251e-01 5.55013784e-02 1.59517361e+01] [ 4.04075120e-01 9.14387386e-01 2.48798143e-02 -2.56650295e+01] [-6.08221106e-02 -2.81116868e-04 9.98148582e-01 3.09753583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.55420609899999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:15.96, Y:-25.66, Z:31.00 [[ 9.09852472e-01 -4.11142904e-01 5.59463235e-02 1.59614646e+01] [ 4.10375396e-01 9.11570897e-01 2.51104502e-02 -2.56642812e+01] [-6.13230237e-02 1.12189453e-04 9.98117966e-01 3.10027057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.584206098999985 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:15.97, Y:-25.66, Z:31.03 [[ 9.11668072e-01 -4.07275852e-01 5.46599150e-02 1.59699394e+01] [ 4.06534051e-01 9.13305178e-01 2.45706586e-02 -2.56576990e+01] [-5.99282193e-02 -1.79168296e-04 9.98202673e-01 3.10294351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.614206098999986 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:15.98, Y:-25.67, Z:31.05 [[ 9.00985028e-01 -4.29887937e-01 5.85007739e-02 1.59847640e+01] [ 4.29441517e-01 9.02858690e-01 2.06438688e-02 -2.56656883e+01] [-6.16924822e-02 6.52284436e-03 9.98073890e-01 3.10542628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64420609899999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:15.99, Y:-25.65, Z:31.08 [[ 9.09168655e-01 -4.12760224e-01 5.51484753e-02 1.59895144e+01] [ 4.11998362e-01 9.10839719e-01 2.50670509e-02 -2.56524540e+01] [-6.05781032e-02 -6.90955297e-05 9.98163458e-01 3.10802341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.67420609899999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:15.99, Y:-25.64, Z:31.11 [[ 9.18801719e-01 -3.91419488e-01 5.09331484e-02 1.59920832e+01] [ 3.90393088e-01 9.20186446e-01 2.91571867e-02 -2.56367394e+01] [-5.82806839e-02 -6.90572419e-03 9.98276351e-01 3.11088783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.70420609899999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:16.01, Y:-25.64, Z:31.14 [[ 9.11632985e-01 -4.07734255e-01 5.17501436e-02 1.60052972e+01] [ 4.07064527e-01 9.13100610e-01 2.33612194e-02 -2.56429160e+01] [-5.67782571e-02 -2.31210477e-04 9.98386787e-01 3.11358437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.73420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.01, Y:-25.64, Z:31.16 [[ 9.12245244e-01 -4.06278253e-01 5.24079790e-02 1.60141295e+01] [ 4.05587441e-01 9.13749341e-01 2.36847829e-02 -2.56390934e+01] [-5.75103684e-02 -3.50312409e-04 9.98344848e-01 3.11630204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.764206098999985 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:16.03, Y:-25.65, Z:31.19 [[ 9.01799419e-01 -4.28526155e-01 5.58850861e-02 1.60288229e+01] [ 4.28141998e-01 9.03505726e-01 1.92829673e-02 -2.56473851e+01] [-5.87557511e-02 6.53738370e-03 9.98250983e-01 3.11887376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.794206098999986 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:16.03, Y:-25.62, Z:31.22 [[ 9.19085980e-01 -3.91089325e-01 4.82711141e-02 1.60269382e+01] [ 3.90151279e-01 9.20327409e-01 2.79184483e-02 -2.56234491e+01] [-5.53438365e-02 -6.82641753e-03 9.98444019e-01 3.12177736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.82420609899999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:16.05, Y:-25.64, Z:31.24 [[ 8.97474164e-01 -4.37507667e-01 5.59210747e-02 1.60484542e+01] [ 4.37319586e-01 8.99160087e-01 1.62085909e-02 -2.56443448e+01] [-5.73733811e-02 9.90858968e-03 9.98303619e-01 3.12432501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.85420609899999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:16.05, Y:-25.63, Z:31.27 [[ 9.09504634e-01 -4.12529532e-01 5.11928274e-02 1.60514793e+01] [ 4.11904829e-01 9.10944120e-01 2.26985028e-02 -2.56267249e+01] [-5.59976078e-02 4.42179380e-04 9.98430805e-01 3.12698592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.88420609899999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:16.06, Y:-25.62, Z:31.30 [[ 9.10761404e-01 -4.10060425e-01 4.86221487e-02 1.60603740e+01] [ 4.09456254e-01 9.12058287e-01 2.22543791e-02 -2.56216879e+01] [-5.34718738e-02 -3.59786643e-04 9.98569291e-01 3.12967632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.91420609899999 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:16.06, Y:-25.60, Z:31.32 [[ 9.23216512e-01 -3.81611219e-01 4.52122760e-02 1.60596838e+01] [ 3.80605265e-01 9.24269272e-01 2.94269461e-02 -2.56032719e+01] [-5.30179702e-02 -9.95941222e-03 9.98543892e-01 3.13249506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.944206098999985 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:16.08, Y:-25.62, Z:31.35 [[ 9.01932644e-01 -4.29071298e-01 4.91459680e-02 1.60821436e+01] [ 4.28857972e-01 9.03241623e-01 1.53430863e-02 -2.56244711e+01] [-5.09739619e-02 7.23820978e-03 9.98673752e-01 3.13515401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.974206098999986 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:16.09, Y:-25.61, Z:31.38 [[ 9.10873516e-01 -4.10270300e-01 4.45838381e-02 1.60871745e+01] [ 4.09749518e-01 9.11963796e-01 2.06728575e-02 -2.56102078e+01] [-4.91403057e-02 -5.62152179e-04 9.98791727e-01 3.13795198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.00420609899999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:16.09, Y:-25.59, Z:31.41 [[ 9.23098500e-01 -3.82572817e-01 3.90793942e-02 1.60879510e+01] [ 3.81818844e-01 9.23885067e-01 2.55098867e-02 -2.55917899e+01] [-4.58642580e-02 -8.62688901e-03 9.98910430e-01 3.14091739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.03420609899999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:16.11, Y:-25.62, Z:31.44 [[ 8.97462360e-01 -4.38462030e-01 4.80870042e-02 1.61101572e+01] [ 4.38450831e-01 8.98683580e-01 1.13442232e-02 -2.56174820e+01] [-4.81890122e-02 1.09027736e-02 9.98778729e-01 3.14359790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06420609899999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:16.10, Y:-25.58, Z:31.47 [[ 9.22944155e-01 -3.82733907e-01 4.10955481e-02 1.61035679e+01] [ 3.81929158e-01 9.23819440e-01 2.62252002e-02 -2.55835526e+01] [-4.80021395e-02 -8.50880711e-03 9.98810991e-01 3.14663276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.09420609899999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:16.12, Y:-25.59, Z:31.49 [[ 9.15876737e-01 -3.99632565e-01 3.82572390e-02 1.61158091e+01] [ 3.99170272e-01 9.16672074e-01 1.93753126e-02 -2.55891277e+01] [-4.28123485e-02 -2.47424556e-03 9.99080067e-01 3.14948382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.124206098999984 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:16.13, Y:-25.59, Z:31.52 [[ 9.11231619e-01 -4.10000430e-01 3.94535677e-02 1.61276928e+01] [ 4.09619106e-01 9.12085327e-01 1.76789015e-02 -2.55888591e+01] [-4.32333775e-02 5.13611066e-05 9.99064999e-01 3.15227334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.154206098999985 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:16.14, Y:-25.59, Z:31.55 [[ 9.08920035e-01 -4.14710364e-01 4.33553307e-02 1.61403415e+01] [ 4.14255186e-01 9.09953418e-01 1.94272575e-02 -2.55850008e+01] [-4.75080164e-02 3.02346987e-04 9.98870811e-01 3.15505841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18420609899999 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:16.15, Y:-25.58, Z:31.58 [[ 9.10266911e-01 -4.11780106e-01 4.30266811e-02 1.61489535e+01] [ 4.11326347e-01 9.11283234e-01 1.93262403e-02 -2.55803896e+01] [-4.71676544e-02 1.05970491e-04 9.98886981e-01 3.15780955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.21420609899999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:16.16, Y:-25.58, Z:31.61 [[ 9.09131348e-01 -4.14259827e-01 4.32317873e-02 1.61573671e+01] [ 4.13801901e-01 9.10158646e-01 1.94737017e-02 -2.55781807e+01] [-4.74149573e-02 1.85243071e-04 9.98875261e-01 3.16069366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24420609899999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:16.17, Y:-25.57, Z:31.63 [[ 9.09805422e-01 -4.12606725e-01 4.48306132e-02 1.61668133e+01] [ 4.12156921e-01 9.10908788e-01 1.92834891e-02 -2.55732891e+01] [-4.87930968e-02 9.33024548e-04 9.98808472e-01 3.16336162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.27420609899999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:16.18, Y:-25.57, Z:31.66 [[ 9.07548936e-01 -4.17682285e-01 4.35480974e-02 1.61792686e+01] [ 4.17361297e-01 9.08587996e-01 1.66553574e-02 -2.55715973e+01] [-4.65239263e-02 3.05973858e-03 9.98912490e-01 3.16613768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30420609899999 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:16.19, Y:-25.56, Z:31.69 [[ 9.12207664e-01 -4.07738489e-01 4.03299227e-02 1.61860091e+01] [ 4.07359529e-01 9.13098664e-01 1.75796425e-02 -2.55625699e+01] [-4.39930954e-02 3.92493746e-04 9.99031758e-01 3.16876667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.334206098999985 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:16.20, Y:-25.56, Z:31.72 [[ 9.07519213e-01 -4.17821466e-01 4.28263962e-02 1.61966409e+01] [ 4.17575062e-01 9.08519013e-01 1.49756625e-02 -2.55640978e+01] [-4.51657485e-02 4.29253361e-03 9.98970285e-01 3.17164209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.364206098999986 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:16.20, Y:-25.55, Z:31.75 [[ 9.18016269e-01 -3.94506946e-01 4.01297962e-02 1.61985921e+01] [ 3.93896387e-01 9.18880352e-01 2.24618524e-02 -2.55481692e+01] [-4.57358380e-02 -4.81336415e-03 9.98941973e-01 3.17465250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.39420609899999 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:16.21, Y:-25.54, Z:31.78 [[ 9.18926238e-01 -3.92377204e-01 4.01833063e-02 1.62067554e+01] [ 3.91780441e-01 9.19793019e-01 2.21108257e-02 -2.55424088e+01] [-4.56361086e-02 -4.57518444e-03 9.98947653e-01 3.17756518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42420609899999 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:16.22, Y:-25.55, Z:31.80 [[ 9.12783935e-01 -4.06066320e-01 4.39958154e-02 1.62175008e+01] [ 4.05661860e-01 9.13842730e-01 1.81636887e-02 -2.55455877e+01] [-4.75809183e-02 1.26790105e-03 9.98866582e-01 3.18039939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.45420609899999 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:16.23, Y:-25.53, Z:31.83 [[ 9.18909504e-01 -3.93077547e-01 3.30962943e-02 1.62257653e+01] [ 3.92670033e-01 9.19497401e-01 1.82968453e-02 -2.55339739e+01] [-3.76240357e-02 -3.81722212e-03 9.99284675e-01 3.18318545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48420609899999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:16.24, Y:-25.54, Z:31.86 [[ 9.12720250e-01 -4.06626799e-01 3.99548748e-02 1.62360779e+01] [ 4.06267659e-01 9.13594141e-01 1.70978250e-02 -2.55376138e+01] [-4.34549734e-02 6.26842327e-04 9.99055190e-01 3.18614379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.514206098999985 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:16.24, Y:-25.53, Z:31.89 [[ 9.16154062e-01 -3.99133759e-01 3.67964249e-02 1.62442374e+01] [ 3.98791692e-01 9.16892591e-01 1.65276452e-02 -2.55296261e+01] [-4.03351106e-02 -4.67760718e-04 9.99186099e-01 3.18895613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.544206098999986 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:16.25, Y:-25.53, Z:31.92 [[ 9.13450791e-01 -4.04952745e-01 4.02607245e-02 1.62549785e+01] [ 4.04596967e-01 9.14337290e-01 1.69886658e-02 -2.55296570e+01] [-4.36914885e-02 7.71056815e-04 9.99044773e-01 3.19169944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.57420609899999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:16.27, Y:-25.53, Z:31.95 [[ 9.09341164e-01 -4.13862782e-01 4.26174303e-02 1.62666612e+01] [ 4.13669508e-01 9.10324445e-01 1.36726982e-02 -2.55298735e+01] [-4.44543095e-02 5.19638406e-03 9.98997904e-01 3.19466191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60420609899999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:16.27, Y:-25.51, Z:31.97 [[ 9.20727995e-01 -3.88079178e-01 4.06756803e-02 1.62696705e+01] [ 3.87482151e-01 9.21615172e-01 2.19785862e-02 -2.55115917e+01] [-4.60167557e-02 -4.47519947e-03 9.98930644e-01 3.19749830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.63420609899999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:16.28, Y:-25.52, Z:32.00 [[ 9.12839356e-01 -4.06191212e-01 4.16294254e-02 1.62819211e+01] [ 4.05869749e-01 9.13785846e-01 1.62841728e-02 -2.55170178e+01] [-4.46548676e-02 2.03129060e-03 9.99000409e-01 3.20001702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66420609899999 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:16.29, Y:-25.50, Z:32.03 [[ 9.21462900e-01 -3.86784779e-01 3.61062216e-02 1.62853864e+01] [ 3.86318730e-01 9.22161727e-01 1.93801163e-02 -2.55037627e+01] [-4.07917097e-02 -3.90954845e-03 9.99160023e-01 3.20324512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.694206098999985 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:16.30, Y:-25.50, Z:32.06 [[ 9.18523383e-01 -3.93724331e-01 3.59992461e-02 1.62962694e+01] [ 3.93413206e-01 9.19228539e-01 1.56506527e-02 -2.55045932e+01] [-3.92535772e-02 -2.12911597e-04 9.99229259e-01 3.20612766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.724206098999986 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:16.31, Y:-25.50, Z:32.09 [[ 9.18382621e-01 -3.93989465e-01 3.66832752e-02 1.63051283e+01] [ 3.93668511e-01 9.19114941e-01 1.59005780e-02 -2.55006890e+01] [-3.99808065e-02 -1.61764195e-04 9.99200435e-01 3.20905294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.75420609899999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:16.31, Y:-25.50, Z:32.12 [[ 9.17124602e-01 -3.96687949e-01 3.90017384e-02 1.63121919e+01] [ 3.96325704e-01 9.17953519e-01 1.69491352e-02 -2.54991226e+01] [-4.25253007e-02 -8.70775114e-05 9.99095386e-01 3.21200998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78420609899999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:16.32, Y:-25.49, Z:32.15 [[ 9.18464304e-01 -3.93721448e-01 3.75065759e-02 1.63217859e+01] [ 3.93382081e-01 9.19229762e-01 1.63457428e-02 -2.54935225e+01] [-4.09128304e-02 -2.58566399e-04 9.99162686e-01 3.21477771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.81420609899999 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:16.33, Y:-25.49, Z:32.18 [[ 9.13503368e-01 -4.04796708e-01 4.06352277e-02 1.63340443e+01] [ 4.04540797e-01 9.14401760e-01 1.47025552e-02 -2.54947706e+01] [-4.31084696e-02 3.00777369e-03 9.99065870e-01 3.21754804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84420609899999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:16.34, Y:-25.48, Z:32.21 [[ 9.23749782e-01 -3.81237851e-01 3.66611606e-02 1.63354714e+01] [ 3.80789663e-01 9.24470746e-01 1.87902397e-02 -2.54780785e+01] [-4.10557211e-02 -3.39728882e-03 9.99151083e-01 3.22057547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.874206098999984 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:16.35, Y:-25.49, Z:32.23 [[ 9.11685156e-01 -4.08817988e-01 4.12071482e-02 1.63509024e+01] [ 4.08654242e-01 9.12600812e-01 1.27070655e-02 -2.54884112e+01] [-4.28005539e-02 5.25463295e-03 9.99069818e-01 3.22339671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.904206098999985 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:16.35, Y:-25.47, Z:32.26 [[ 9.25557146e-01 -3.76796678e-01 3.69896425e-02 1.63517482e+01] [ 3.76272233e-01 9.26282153e-01 2.05080187e-02 -2.54677974e+01] [-4.19901990e-02 -5.06316791e-03 9.99105193e-01 3.22634053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.93420609899999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:16.37, Y:-25.48, Z:32.29 [[ 9.15505741e-01 -4.00333209e-01 3.97813933e-02 1.63661133e+01] [ 4.00019495e-01 9.16368642e-01 1.59032935e-02 -2.54759498e+01] [-4.28210378e-02 1.35377636e-03 9.99081842e-01 3.22903069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96420609899999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:16.37, Y:-25.47, Z:32.32 [[ 9.17724986e-01 -3.95342735e-01 3.85353379e-02 1.63730480e+01] [ 3.94971797e-01 9.18533545e-01 1.71291299e-02 -2.54696698e+01] [-4.21678776e-02 -4.99458832e-04 9.99110415e-01 3.23186387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.99420609899999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:16.38, Y:-25.46, Z:32.35 [[ 9.20770835e-01 -3.88332877e-01 3.71301237e-02 1.63790505e+01] [ 3.87936020e-01 9.21517318e-01 1.76486964e-02 -2.54614080e+01] [-4.10696211e-02 -1.84629251e-03 9.99154581e-01 3.23480482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02420609899999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:16.39, Y:-25.46, Z:32.38 [[ 9.19105114e-01 -3.92223735e-01 3.75010834e-02 1.63887617e+01] [ 3.91895763e-01 9.19869849e-01 1.60365675e-02 -2.54602643e+01] [-4.07860384e-02 -4.27755279e-05 9.99167902e-01 3.23764517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.054206098999984 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:16.40, Y:-25.46, Z:32.40 [[ 9.14923905e-01 -4.01951017e-01 3.67372985e-02 1.64006279e+01] [ 4.01638745e-01 9.15661134e-01 1.58431513e-02 -2.54607972e+01] [-4.00070872e-02 2.59844601e-04 9.99199362e-01 3.24037587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.084206098999985 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:16.41, Y:-25.46, Z:32.43 [[ 9.14530398e-01 -4.02969148e-01 3.53555669e-02 1.64109516e+01] [ 4.02801728e-01 9.15207902e-01 1.20525430e-02 -2.54571639e+01] [-3.72144972e-02 3.21886646e-03 9.99302117e-01 3.24329660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.114206098999986 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:16.41, Y:-25.44, Z:32.46 [[ 9.26104922e-01 -3.75598622e-01 3.54309003e-02 1.64126471e+01] [ 3.75173204e-01 9.26775484e-01 1.82282656e-02 -2.54389490e+01] [-3.96830012e-02 -3.58856212e-03 9.99205876e-01 3.24640241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14420609899999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:16.42, Y:-25.44, Z:32.49 [[ 9.22196172e-01 -3.84998658e-01 3.64726523e-02 1.64216099e+01] [ 3.84692161e-01 9.22917123e-01 1.53598802e-02 -2.54407573e+01] [-3.95747686e-02 -1.34079243e-04 9.99216603e-01 3.24931955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.17420609899999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:16.43, Y:-25.44, Z:32.52 [[ 9.20674612e-01 -3.88513911e-01 3.76191536e-02 1.64290811e+01] [ 3.88190762e-01 9.21442858e-01 1.58427110e-02 -2.54385669e+01] [-4.08190141e-02 1.74260790e-05 9.99166557e-01 3.25228505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.20420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.44, Y:-25.43, Z:32.55 [[ 9.20740531e-01 -3.88307379e-01 3.81346896e-02 1.64384077e+01] [ 3.87973244e-01 9.21529912e-01 1.61053918e-02 -2.54345931e+01] [-4.13960996e-02 -3.36477824e-05 9.99142814e-01 3.25503795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.23420609899999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:16.45, Y:-25.44, Z:32.58 [[ 9.11611998e-01 -4.09119249e-01 3.98121225e-02 1.64538030e+01] [ 4.09024540e-01 9.12458651e-01 1.08690582e-02 -2.54415758e+01] [-4.07736565e-02 6.37577118e-03 9.99148066e-01 3.25763524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.264206098999985 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:16.45, Y:-25.41, Z:32.61 [[ 9.30879576e-01 -3.63474962e-01 3.67310095e-02 1.64483680e+01] [ 3.62832500e-01 9.31568124e-01 2.30956090e-02 -2.54136383e+01] [-4.26121132e-02 -8.17202668e-03 9.99058269e-01 3.26075458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.294206098999986 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.47, Y:-25.43, Z:32.63 [[ 9.11143822e-01 -4.10287693e-01 3.84830365e-02 1.64709990e+01] [ 4.10207220e-01 9.11933859e-01 1.03282981e-02 -2.54340858e+01] [-3.93315576e-02 6.37545443e-03 9.99205876e-01 3.26329202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.32420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.48, Y:-25.42, Z:32.66 [[ 9.19661864e-01 -3.91157948e-01 3.48929232e-02 1.64758306e+01] [ 3.90883246e-01 9.20323549e-01 1.46578792e-02 -2.54198816e+01] [-3.78463249e-02 1.58766598e-04 9.99283559e-01 3.26614719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.35420609899999 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:16.48, Y:-25.40, Z:32.69 [[ 9.31003056e-01 -3.63717536e-01 3.07060831e-02 1.64780215e+01] [ 3.63316162e-01 9.31492619e-01 1.79685177e-02 -2.54029845e+01] [-3.51379548e-02 -5.57272861e-03 9.99366934e-01 3.26917922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.38420609899999 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:16.49, Y:-25.41, Z:32.72 [[ 9.24405349e-01 -3.80021993e-01 3.25274625e-02 1.64897958e+01] [ 3.79782888e-01 9.24977445e-01 1.34790442e-02 -2.54081829e+01] [-3.52095024e-02 -1.06726954e-04 9.99379948e-01 3.27214968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.41420609899999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:16.50, Y:-25.41, Z:32.75 [[ 9.15743733e-01 -4.00410143e-01 3.29413685e-02 1.65043654e+01] [ 4.00387810e-01 9.16314602e-01 7.55986814e-03 -2.54149348e+01] [-3.32117048e-02 6.26642054e-03 9.99428694e-01 3.27485741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.444206098999985 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:16.51, Y:-25.39, Z:32.78 [[ 9.28020010e-01 -3.71347814e-01 2.96590929e-02 1.65068336e+01] [ 3.71039311e-01 9.28487656e-01 1.55081059e-02 -2.53945171e+01] [-3.32970029e-02 -3.38714324e-03 9.99439762e-01 3.27779416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.474206098999986 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:16.51, Y:-25.39, Z:32.81 [[ 9.28877691e-01 -3.69410125e-01 2.68774055e-02 1.65141700e+01] [ 3.69167308e-01 9.29262297e-01 1.36778368e-02 -2.53903395e+01] [-3.00288909e-02 -2.78277810e-03 9.99545157e-01 3.28093134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.50420609899999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:16.53, Y:-25.39, Z:32.84 [[ 9.22557711e-01 -3.84549925e-01 3.17588679e-02 1.65271376e+01] [ 3.84445487e-01 9.23098025e-01 9.57615735e-03 -2.53946518e+01] [-3.29990588e-02 3.37499562e-03 9.99449684e-01 3.28389190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.53420609899999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:16.53, Y:-25.38, Z:32.87 [[ 9.27310673e-01 -3.73110314e-01 2.97255581e-02 1.65333947e+01] [ 3.72911645e-01 9.27786964e-01 1.21759336e-02 -2.53849678e+01] [-3.21219517e-02 -2.05866453e-04 9.99483936e-01 3.28678136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56420609899999 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:16.54, Y:-25.38, Z:32.90 [[ 9.31000361e-01 -3.64188113e-01 2.46037750e-02 1.65393202e+01] [ 3.63970327e-01 9.31320168e-01 1.29747946e-02 -2.53769546e+01] [-2.76392579e-02 -3.12449447e-03 9.99613080e-01 3.28985162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.59420609899999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:16.56, Y:-25.39, Z:32.93 [[ 9.18287617e-01 -3.94979910e-01 2.71794470e-02 1.65581764e+01] [ 3.95008585e-01 9.18666243e-01 4.53350123e-03 -2.53890381e+01] [-2.67594824e-02 6.57305687e-03 9.99620290e-01 3.29276926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.624206098999984 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:16.56, Y:-25.37, Z:32.96 [[ 9.27042164e-01 -3.74083003e-01 2.55877371e-02 1.65645584e+01] [ 3.73954212e-01 9.27395113e-01 9.82606803e-03 -2.53732325e+01] [-2.74057074e-02 4.59462681e-04 9.99624287e-01 3.29594742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.654206098999985 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:16.56, Y:-25.36, Z:32.99 [[ 9.36557035e-01 -3.49630750e-01 2.48849233e-02 1.65646787e+01] [ 3.49340329e-01 9.36870439e-01 1.53334281e-02 -2.53579325e+01] [-2.86749869e-02 -5.66732264e-03 9.99572722e-01 3.29919182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68420609899999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:16.58, Y:-25.36, Z:33.02 [[ 9.29609282e-01 -3.67438622e-01 2.85559498e-02 1.65754658e+01] [ 3.67282299e-01 9.30047630e-01 1.07293158e-02 -2.53638182e+01] [-3.05007585e-02 5.14023380e-04 9.99534611e-01 3.30236151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.71420609899999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:16.59, Y:-25.37, Z:33.05 [[ 9.19969738e-01 -3.90994701e-01 2.79074432e-02 1.65936383e+01] [ 3.91037423e-01 9.20365485e-01 4.13623932e-03 -2.53707735e+01] [-2.73022952e-02 7.10763968e-03 9.99601954e-01 3.30503572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74420609899999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:16.59, Y:-25.35, Z:33.08 [[ 9.35244654e-01 -3.52838237e-01 2.86812753e-02 1.65909378e+01] [ 3.52517457e-01 9.35673026e-01 1.57299277e-02 -2.53473642e+01] [-3.23864156e-02 -4.60068058e-03 9.99464834e-01 3.30825169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.77420609899999 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:16.61, Y:-25.36, Z:33.11 [[ 9.26411209e-01 -3.75829329e-01 2.26845084e-02 1.66082300e+01] [ 3.75795052e-01 9.26683905e-01 5.91774237e-03 -2.53553400e+01] [-2.32454300e-02 3.04246316e-03 9.99725159e-01 3.31089076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.804206098999984 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:16.61, Y:-25.34, Z:33.14 [[ 9.38461118e-01 -3.44749212e-01 2.09454341e-02 1.66077404e+01] [ 3.44502998e-01 9.38672949e-01 1.45182633e-02 -2.53354050e+01] [-2.46660723e-02 -6.40906077e-03 9.99675202e-01 3.31385591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.834206098999985 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:16.62, Y:-25.35, Z:33.17 [[ 9.27299915e-01 -3.73456230e-01 2.54029887e-02 1.66220216e+01] [ 3.73437906e-01 9.27638035e-01 5.63968344e-03 -2.53462725e+01] [-2.56709534e-02 4.25676092e-03 9.99661384e-01 3.31701439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.864206098999986 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:16.63, Y:-25.34, Z:33.20 [[ 9.25570887e-01 -3.77855954e-01 2.33111622e-02 1.66338614e+01] [ 3.77908701e-01 9.25840086e-01 2.26921030e-03 -2.53440997e+01] [-2.24398430e-02 6.70917602e-03 9.99725683e-01 3.31997674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.89420609899999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:16.63, Y:-25.32, Z:33.23 [[ 9.43489435e-01 -3.30969790e-01 1.69317307e-02 1.66309707e+01] [ 3.30844467e-01 9.43634260e-01 9.81436111e-03 -2.53167210e+01] [-1.92256182e-02 -3.65797661e-03 9.99808479e-01 3.32315014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.92420609899999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:16.65, Y:-25.32, Z:33.26 [[ 9.39309581e-01 -3.42628032e-01 1.74224483e-02 1.66453062e+01] [ 3.42590528e-01 9.39470504e-01 5.18667848e-03 -2.53186479e+01] [-1.81449777e-02 1.09686897e-03 9.99834765e-01 3.32603724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.95420609899999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:16.64, Y:-25.30, Z:33.29 [[ 9.49627074e-01 -3.12843741e-01 1.83633911e-02 1.66438321e+01] [ 3.12665213e-01 9.49787934e-01 1.19727040e-02 -2.53002964e+01] [-2.11869128e-02 -5.62801026e-03 9.99759691e-01 3.32908711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98420609899999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:16.66, Y:-25.30, Z:33.32 [[ 9.47152288e-01 -3.20636521e-01 9.73470937e-03 1.66565421e+01] [ 3.20595904e-01 9.47199964e-01 5.52214436e-03 -2.52999210e+01] [-1.09913175e-02 -2.10940371e-03 9.99937369e-01 3.33234463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01420609899999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:16.68, Y:-25.32, Z:33.35 [[ 9.31935462e-01 -3.62365605e-01 1.36917272e-02 1.66765339e+01] [ 3.62468909e-01 9.31976982e-01 -5.93254684e-03 -2.53173663e+01] [-1.06106236e-02 1.04915762e-02 9.99888665e-01 3.33527483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.044206099 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:16.67, Y:-25.28, Z:33.38 [[ 9.55557049e-01 -2.94717546e-01 7.23153372e-03 1.66699454e+01] [ 2.94627148e-01 9.55544087e-01 1.14167203e-02 -2.52794029e+01] [-1.02747571e-02 -8.77872139e-03 9.99908678e-01 3.33842675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.074206099 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:16.69, Y:-25.30, Z:33.41 [[ 9.39868226e-01 -3.41206439e-01 1.50294224e-02 1.66874125e+01] [ 3.41253876e-01 9.39970952e-01 -6.34319768e-04 -2.53014028e+01] [-1.39107865e-02 5.72502565e-03 9.99886851e-01 3.34140483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10420609899998 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:16.69, Y:-25.29, Z:33.44 [[ 9.44511278e-01 -3.28236156e-01 1.26281977e-02 1.66940508e+01] [ 3.28234146e-01 9.44593616e-01 2.29046862e-03 -2.52907394e+01] [-1.26803295e-02 1.98163224e-03 9.99917638e-01 3.34445371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.13420609899998 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:16.70, Y:-25.27, Z:33.48 [[ 9.52825823e-01 -3.03361232e-01 9.74237923e-03 1.66975658e+01] [ 3.03295536e-01 9.52865697e-01 7.66685622e-03 -2.52740706e+01] [-1.16090059e-02 -4.35035845e-03 9.99923150e-01 3.34772863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16420609899998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:16.71, Y:-25.28, Z:33.51 [[ 9.49752578e-01 -3.12920274e-01 7.13742556e-03 1.67086213e+01] [ 3.12892312e-01 9.49776609e-01 4.77439525e-03 -2.52754790e+01] [-8.27296491e-03 -2.30124861e-03 9.99963130e-01 3.35084850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.19420609899998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:16.72, Y:-25.27, Z:33.54 [[ 9.48410055e-01 -3.16923384e-01 8.82816679e-03 1.67174049e+01] [ 3.16914263e-01 9.48451024e-01 2.45068802e-03 -2.52743297e+01] [-9.14976417e-03 4.73514809e-04 9.99958028e-01 3.35400363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22420609899999 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:16.73, Y:-25.27, Z:33.57 [[ 9.50556410e-01 -3.10493573e-01 6.02104247e-03 1.67256214e+01] [ 3.10490567e-01 9.50575353e-01 1.45148335e-03 -2.52684502e+01] [-6.17413082e-03 4.89760094e-04 9.99980820e-01 3.35719394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25420609899999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:16.73, Y:-25.27, Z:33.60 [[ 9.50123666e-01 -3.11790022e-01 7.21121964e-03 1.67328600e+01] [ 3.11784932e-01 9.50150904e-01 1.84827315e-03 -2.52656902e+01] [-7.42801998e-03 4.92261565e-04 9.99972291e-01 3.36044370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28420609899999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:16.74, Y:-25.26, Z:33.64 [[ 9.52177089e-01 -3.05475733e-01 6.58541008e-03 1.67399928e+01] [ 3.05471892e-01 9.52199740e-01 1.60601660e-03 -2.52595005e+01] [-6.76122486e-03 4.82445460e-04 9.99977026e-01 3.36357876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31420609899999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:16.75, Y:-25.26, Z:33.67 [[ 9.51783468e-01 -3.06679686e-01 7.46987862e-03 1.67488812e+01] [ 3.06691363e-01 9.51808916e-01 -4.43004742e-04 -2.52568977e+01] [-6.97403651e-03 2.71259184e-03 9.99972002e-01 3.36662227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34420609899999 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:16.75, Y:-25.24, Z:33.70 [[ 9.57467852e-01 -2.88536068e-01 1.49963368e-03 1.67542933e+01] [ 2.88531851e-01 9.57466973e-01 2.52338118e-03 -2.52448752e+01] [-2.16393620e-03 -1.98336428e-03 9.99995692e-01 3.36980923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37420609899999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:16.76, Y:-25.25, Z:33.73 [[ 9.55145678e-01 -2.96123512e-01 2.75667692e-03 1.67635030e+01] [ 2.96124135e-01 9.55149444e-01 1.88766374e-04 -2.52457159e+01] [-2.68893659e-03 6.36019184e-04 9.99996183e-01 3.37302892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40420609899999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:16.78, Y:-25.25, Z:33.76 [[ 9.48276756e-01 -3.17410291e-01 4.67984604e-03 1.67774558e+01] [ 3.17436864e-01 9.48254202e-01 -6.91412352e-03 -2.52542844e+01] [-2.24306972e-03 8.04205827e-03 9.99965146e-01 3.37589596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.434206099 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:16.78, Y:-25.23, Z:33.79 [[ 9.61835572e-01 -2.73602647e-01 -3.73141848e-03 1.67776617e+01] [ 2.73616486e-01 9.61830938e-01 3.90697371e-03 -2.52283100e+01] [ 2.52003539e-03 -4.77884390e-03 9.99985406e-01 3.37870170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46420609899998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:16.79, Y:-25.23, Z:33.82 [[ 9.61231215e-01 -2.75738418e-01 -1.69583702e-03 1.67862240e+01] [ 2.75741141e-01 9.61230497e-01 1.66003072e-03 -2.52270458e+01] [ 1.17235602e-03 -2.06328538e-03 9.99997184e-01 3.38218682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.49420609899998 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:16.79, Y:-25.23, Z:33.85 [[ 9.58963078e-01 -2.83528785e-01 -1.11504220e-03 1.67944748e+01] [ 2.83527558e-01 9.58963411e-01 -1.14017400e-03 -2.52276667e+01] [ 1.39255682e-03 7.77239573e-04 9.99998728e-01 3.38537595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52420609899998 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:16.81, Y:-25.23, Z:33.88 [[ 9.54645932e-01 -2.97738120e-01 1.77681598e-03 1.68053845e+01] [ 2.97742863e-01 9.54638704e-01 -3.75927194e-03 -2.52314334e+01] [-5.76938750e-04 4.11780794e-03 9.99991355e-01 3.38798955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.55420609899998 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:16.81, Y:-25.22, Z:33.91 [[ 9.60264681e-01 -2.79087480e-01 1.38564354e-03 1.68098836e+01] [ 2.79086397e-01 9.60265550e-01 9.25746986e-04 -2.52175101e+01] [-1.58895015e-03 -5.02247870e-04 9.99998611e-01 3.39107271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58420609899999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:16.82, Y:-25.21, Z:33.94 [[ 9.61959670e-01 -2.73159189e-01 -4.20122391e-03 1.68191921e+01] [ 2.73165718e-01 9.61966410e-01 1.05682097e-03 -2.52097221e+01] [ 3.75275592e-03 -2.16424950e-03 9.99990616e-01 3.39444983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61420609899999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:16.83, Y:-25.21, Z:33.98 [[ 9.59712973e-01 -2.80961706e-01 -3.39540747e-03 1.68288132e+01] [ 2.80958330e-01 9.59718883e-01 -1.44321981e-03 -2.52109612e+01] [ 3.66412617e-03 4.31108761e-04 9.99993194e-01 3.39768472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64420609899999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:16.84, Y:-25.21, Z:34.01 [[ 9.54837577e-01 -2.97117021e-01 -2.58405821e-03 1.68398732e+01] [ 2.97113680e-01 9.54840770e-01 -1.60152911e-03 -2.52093766e+01] [ 2.94320569e-03 7.61441134e-04 9.99995379e-01 3.40085045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67420609899999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:16.85, Y:-25.21, Z:34.04 [[ 9.55635449e-01 -2.94539497e-01 -2.71547695e-03 1.68479695e+01] [ 2.94537267e-01 9.55639245e-01 -1.19635476e-03 -2.52051256e+01] [ 2.94739007e-03 3.43469860e-04 9.99995597e-01 3.40407832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.86, Y:-25.20, Z:34.07 [[ 9.56095976e-01 -2.93044530e-01 -2.32118906e-03 1.68557990e+01] [ 2.93042760e-01 9.56098730e-01 -1.07673740e-03 -2.52011418e+01] [ 2.53481792e-03 3.49256650e-04 9.99996726e-01 3.40724217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.73420609899999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:16.86, Y:-25.20, Z:34.10 [[ 9.56322748e-01 -2.92304302e-01 -2.23549242e-03 1.68638909e+01] [ 2.92300734e-01 9.56324773e-01 -1.79138613e-03 -2.51962002e+01] [ 2.66148666e-03 1.05970723e-03 9.99995897e-01 3.41010913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76420609899999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:16.88, Y:-25.19, Z:34.13 [[ 9.55179219e-01 -2.95996687e-01 -4.31525482e-03 1.68759588e+01] [ 2.95967943e-01 9.55177473e-01 -6.24268477e-03 -2.51947117e+01] [ 5.96964821e-03 4.68570567e-03 9.99971203e-01 3.41315684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.794206099 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:16.88, Y:-25.19, Z:34.16 [[ 9.58113922e-01 -2.86358577e-01 -4.05934963e-03 1.68814868e+01] [ 2.86348232e-01 9.58121081e-01 -2.94682262e-03 -2.51860254e+01] [ 4.73319639e-03 1.66100419e-03 9.99987419e-01 3.41608485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.824206099 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:16.89, Y:-25.18, Z:34.19 [[ 9.60338669e-01 -2.78719071e-01 -8.08207453e-03 1.68881292e+01] [ 2.78710628e-01 9.60372664e-01 -2.17557060e-03 -2.51799288e+01] [ 8.36817646e-03 -1.63275486e-04 9.99964973e-01 3.41905745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.85420609899998 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:16.90, Y:-25.19, Z:34.22 [[ 9.51486356e-01 -3.07623116e-01 -6.46005092e-03 1.69020640e+01] [ 3.07562225e-01 9.51485906e-01 -8.94699251e-03 -2.51927187e+01] [ 8.89894912e-03 6.52607367e-03 9.99939108e-01 3.42211244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88420609899998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:16.90, Y:-25.16, Z:34.25 [[ 9.69520588e-01 -2.44629231e-01 -1.36517002e-02 1.69022641e+01] [ 2.44740679e-01 9.69562047e-01 7.17194491e-03 -2.51580514e+01] [ 1.14817030e-02 -1.02944746e-02 9.99881090e-01 3.42507928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.91420609899998 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:16.92, Y:-25.20, Z:34.28 [[ 9.45583685e-01 -3.25332206e-01 -5.51813650e-03 1.69211280e+01] [ 3.25240581e-01 9.45540117e-01 -1.31321192e-02 -2.51994314e+01] [ 9.48992074e-03 1.06227957e-02 9.99898544e-01 3.42808387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94420609899998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:16.93, Y:-25.19, Z:34.32 [[ 9.50069162e-01 -3.12002326e-01 -4.81003953e-03 1.69265667e+01] [ 3.11951208e-01 9.50054256e-01 -9.12989378e-03 -2.51899414e+01] [ 7.41834663e-03 7.17353289e-03 9.99946753e-01 3.43161066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.97420609899999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:16.93, Y:-25.17, Z:34.35 [[ 9.58807463e-01 -2.83900215e-01 -9.42954882e-03 1.69296100e+01] [ 2.83901033e-01 9.58852734e-01 -1.27982221e-03 -2.51728157e+01] [ 9.40489047e-03 -1.44995556e-03 9.99954722e-01 3.43473796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00420609899999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:16.94, Y:-25.18, Z:34.38 [[ 9.51291973e-01 -3.08264938e-01 -4.03856164e-03 1.69436434e+01] [ 3.08246362e-01 9.51295299e-01 -4.62965305e-03 -2.51841701e+01] [ 5.26902442e-03 3.15927985e-03 9.99981128e-01 3.43784703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03420609899999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:16.96, Y:-25.19, Z:34.41 [[ 9.46769986e-01 -3.21849402e-01 -6.28932679e-03 1.69563417e+01] [ 3.21775251e-01 9.46757561e-01 -1.05265103e-02 -2.51880092e+01] [ 9.34241874e-03 7.94243430e-03 9.99924816e-01 3.44090506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06420609899999 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:16.95, Y:-25.12, Z:34.44 [[ 9.79810369e-01 -1.98834620e-01 -2.08910384e-02 1.69463044e+01] [ 1.99293200e-01 9.79674637e-01 2.27996946e-02 -2.51198909e+01] [ 1.59330519e-02 -2.65028190e-02 9.99521755e-01 3.44357136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.09420609899999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:16.97, Y:-25.17, Z:34.47 [[ 9.53923188e-01 -2.99681254e-01 -1.48894997e-02 1.69667192e+01] [ 2.99637830e-01 9.54039291e-01 -5.11883343e-03 -2.51702652e+01] [ 1.57391862e-02 4.21516513e-04 9.99876042e-01 3.44681446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12420609899999 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:16.97, Y:-25.16, Z:34.50 [[ 9.55940094e-01 -2.93376671e-01 -1.04243058e-02 1.69718666e+01] [ 2.93369821e-01 9.55996466e-01 -2.21469076e-03 -2.51647592e+01] [ 1.06153381e-02 -9.41065040e-04 9.99943213e-01 3.45006187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15420609899999 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:16.98, Y:-25.17, Z:34.53 [[ 9.53419816e-01 -3.01328665e-01 -1.38452234e-02 1.69844902e+01] [ 3.01270508e-01 9.53518820e-01 -6.15958152e-03 -2.51667443e+01] [ 1.50577395e-02 1.70150960e-03 9.99885178e-01 3.45315450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.184206099 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:17.00, Y:-25.19, Z:34.56 [[ 9.35842390e-01 -3.52396615e-01 -3.95571276e-03 1.70018821e+01] [ 3.52229480e-01 9.35648570e-01 -2.22743441e-02 -2.51904084e+01] [ 1.15505605e-02 1.94519568e-02 9.99744070e-01 3.45632659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21420609899998 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:16.99, Y:-25.12, Z:34.59 [[ 9.76064245e-01 -2.16951440e-01 -1.51875816e-02 1.69872038e+01] [ 2.17199490e-01 9.75975532e-01 1.72087788e-02 -2.51183678e+01] [ 1.10892387e-02 -2.00956087e-02 9.99736563e-01 3.45933275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24420609899998 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:17.00, Y:-25.15, Z:34.63 [[ 9.59403266e-01 -2.81843883e-01 -1.04593842e-02 1.70034373e+01] [ 2.81846776e-01 9.59458644e-01 -1.22693100e-03 -2.51514178e+01] [ 1.03811495e-02 -1.77082209e-03 9.99944546e-01 3.46251786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.27420609899998 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:17.01, Y:-25.15, Z:34.66 [[ 9.57796718e-01 -2.87280089e-01 -9.77744375e-03 1.70124413e+01] [ 2.87259257e-01 9.57846466e-01 -3.50234214e-03 -2.51515836e+01] [ 1.03714431e-02 5.45870575e-04 9.99946066e-01 3.46575818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30420609899998 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:17.03, Y:-25.18, Z:34.69 [[ 9.40910866e-01 -3.38607151e-01 -5.65148881e-03 1.70316716e+01] [ 3.38458797e-01 9.40803684e-01 -1.82775858e-02 -2.51751818e+01] [ 1.15058628e-02 1.52847830e-02 9.99816979e-01 3.46882413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33420609899999 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:17.03, Y:-25.15, Z:34.72 [[ 9.57749690e-01 -2.87386659e-01 -1.11552273e-02 1.70318935e+01] [ 2.87348319e-01 9.57813446e-01 -4.93423648e-03 -2.51454527e+01] [ 1.21026605e-02 1.52032764e-03 9.99925604e-01 3.47201223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36420609899999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:17.03, Y:-25.12, Z:34.75 [[ 9.67831876e-01 -2.51082857e-01 -1.60890563e-02 1.70337630e+01] [ 2.51211082e-01 9.67910606e-01 6.48470406e-03 -2.51231687e+01] [ 1.39445702e-02 -1.03178525e-02 9.99849534e-01 3.47509024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39420609899999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:17.05, Y:-25.15, Z:34.78 [[ 9.53203565e-01 -3.02053859e-01 -1.29007824e-02 1.70488058e+01] [ 3.01952900e-01 9.53278349e-01 -9.21058235e-03 -2.51473423e+01] [ 1.50801285e-02 4.88413128e-03 9.99874360e-01 3.47805950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42420609899999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:17.05, Y:-25.14, Z:34.81 [[ 9.57516093e-01 -2.88095816e-01 -1.27958153e-02 1.70549145e+01] [ 2.88059987e-01 9.57601318e-01 -4.59994280e-03 -2.51377800e+01] [ 1.35785138e-02 7.18556877e-04 9.99907550e-01 3.48117226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45420609899999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:17.06, Y:-25.13, Z:34.84 [[ 9.58696296e-01 -2.84096719e-01 -1.38009508e-02 1.70625978e+01] [ 2.84067465e-01 9.58795627e-01 -4.07693772e-03 -2.51331740e+01] [ 1.43905359e-02 -1.18560186e-05 9.99896451e-01 3.48426414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48420609899999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:17.07, Y:-25.11, Z:34.87 [[ 9.67162490e-01 -2.53867047e-01 -1.21754493e-02 1.70650037e+01] [ 2.53948155e-01 9.67201443e-01 5.63065851e-03 -2.51145307e+01] [ 1.03466735e-02 -8.53769460e-03 9.99910023e-01 3.48734677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51420609899999 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:17.08, Y:-25.13, Z:34.91 [[ 9.56130233e-01 -2.92757949e-01 -1.03807912e-02 1.70780381e+01] [ 2.92713750e-01 9.56183821e-01 -5.58227940e-03 -2.51337234e+01] [ 1.15602013e-02 2.29878578e-03 9.99930536e-01 3.49062245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.544206099 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:17.08, Y:-25.11, Z:34.94 [[ 9.65428152e-01 -2.60262444e-01 -1.45582527e-02 1.70829281e+01] [ 2.60316547e-01 9.65521417e-01 1.92054472e-03 -2.51127932e+01] [ 1.35564591e-02 -5.64390202e-03 9.99892179e-01 3.49355266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57420609899998 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:17.09, Y:-25.12, Z:34.97 [[ 9.60135257e-01 -2.79211742e-01 -1.34569790e-02 1.70934459e+01] [ 2.79179987e-01 9.60229512e-01 -4.22132962e-03 -2.51202410e+01] [ 1.41004331e-02 2.96128189e-04 9.99900540e-01 3.49667298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60420609899998 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:17.10, Y:-25.12, Z:35.00 [[ 9.60177031e-01 -2.79197872e-01 -1.04219710e-02 1.71018457e+01] [ 2.79133376e-01 9.60225120e-01 -7.23024759e-03 -2.51169602e+01] [ 1.20261081e-02 4.03319772e-03 9.99919550e-01 3.49979708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.63420609899998 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:17.11, Y:-25.11, Z:35.03 [[ 9.64394416e-01 -2.64084084e-01 -1.42480518e-02 1.71086875e+01] [ 2.64078193e-01 9.64498466e-01 -2.32731324e-03 -2.51065895e+01] [ 1.43568305e-02 -1.51815187e-03 9.99895783e-01 3.50273248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66420609899998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:17.12, Y:-25.11, Z:35.06 [[ 9.61557715e-01 -2.74118338e-01 -1.63063332e-02 1.71164899e+01] [ 2.73995983e-01 9.61685290e-01 -9.35967999e-03 -2.51096981e+01] [ 1.82472207e-02 4.53200271e-03 9.99823234e-01 3.50607839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.69420609899998 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:17.12, Y:-25.09, Z:35.09 [[ 9.71051830e-01 -2.38461548e-01 -1.39439725e-02 1.71186593e+01] [ 2.38505548e-01 9.71139884e-01 1.55828244e-03 -2.50881629e+01] [ 1.31699574e-02 -4.83888782e-03 9.99901564e-01 3.50904023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72420609899999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:17.13, Y:-25.10, Z:35.12 [[ 9.63076875e-01 -2.68673129e-01 -1.72534558e-02 1.71330098e+01] [ 2.68534928e-01 9.63218819e-01 -9.92467431e-03 -2.51021500e+01] [ 1.92853466e-02 4.92506883e-03 9.99801890e-01 3.51220569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75420609899999 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:17.14, Y:-25.09, Z:35.15 [[ 9.69150708e-01 -2.45867152e-01 -1.72119029e-02 1.71370130e+01] [ 2.45825246e-01 9.69303520e-01 -4.54245423e-03 -2.50876814e+01] [ 1.78003983e-02 1.71202465e-04 9.99841546e-01 3.51546389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78420609899999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:17.14, Y:-25.08, Z:35.19 [[ 9.72008568e-01 -2.34513061e-01 -1.42467039e-02 1.71422744e+01] [ 2.34533148e-01 9.72108086e-01 -2.67625818e-04 -2.50785906e+01] [ 1.39120978e-02 -3.08118973e-03 9.99898475e-01 3.51856561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81420609899999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:17.15, Y:-25.09, Z:35.22 [[ 9.66169693e-01 -2.57415640e-01 -1.59157984e-02 1.71542978e+01] [ 2.57312244e-01 9.66292926e-01 -8.26980949e-03 -2.50884461e+01] [ 1.75081017e-02 3.89470950e-03 9.99839136e-01 3.52176428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84420609899999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:17.16, Y:-25.08, Z:35.25 [[ 9.71410702e-01 -2.36880626e-01 -1.57739096e-02 1.71602009e+01] [ 2.36838557e-01 9.71538549e-01 -4.51066497e-03 -2.50753327e+01] [ 1.63934504e-02 6.45838231e-04 9.99865410e-01 3.52497701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.16, Y:-25.05, Z:35.28 [[ 9.82637677e-01 -1.85065296e-01 -1.31921297e-02 1.71605216e+01] [ 1.85242358e-01 9.82596419e-01 1.37675981e-02 -2.50480946e+01] [ 1.04146348e-02 -1.59723019e-02 9.99818194e-01 3.52779909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90420609899999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:17.18, Y:-25.10, Z:35.31 [[ 9.58018641e-01 -2.86562449e-01 -9.06898719e-03 1.71807235e+01] [ 2.86360685e-01 9.57938064e-01 -1.87676199e-02 -2.50981315e+01] [ 1.40656232e-02 1.53827283e-02 9.99782741e-01 3.53090511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.934206099 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:17.18, Y:-25.07, Z:35.34 [[ 9.71974815e-01 -2.34693495e-01 -1.35618402e-02 1.71809733e+01] [ 2.34629162e-01 9.72065327e-01 -6.17708803e-03 -2.50687759e+01] [ 1.46327170e-02 2.82197080e-03 9.99888954e-01 3.53416452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.19, Y:-25.05, Z:35.37 [[ 9.76694868e-01 -2.13758375e-01 -1.93517723e-02 1.71889440e+01] [ 2.13706217e-01 9.76886434e-01 -4.74844679e-03 -2.50538530e+01] [ 1.99195041e-02 5.02189547e-04 9.99801461e-01 3.53724446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.99420609899998 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:17.19, Y:-25.06, Z:35.41 [[ 9.75250671e-01 -2.20732421e-01 -1.27799178e-02 1.71938661e+01] [ 2.20705279e-01 9.75334215e-01 -3.51418525e-03 -2.50567039e+01] [ 1.32403857e-02 6.06616204e-04 9.99912158e-01 3.54050537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02420609899998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:17.21, Y:-25.06, Z:35.43 [[ 9.74237406e-01 -2.24904807e-01 -1.67123824e-02 1.72078130e+01] [ 2.24820625e-01 9.74376578e-01 -6.78023687e-03 -2.50557529e+01] [ 1.78090618e-02 2.84827213e-03 9.99837349e-01 3.54325389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.05420609899998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:17.21, Y:-25.05, Z:35.46 [[ 9.76805359e-01 -2.13290913e-01 -1.89282137e-02 1.72146098e+01] [ 2.13246658e-01 9.76988711e-01 -4.34987719e-03 -2.50477630e+01] [ 1.94204404e-02 2.12605020e-04 9.99811383e-01 3.54637828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08420609899999 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:17.22, Y:-25.04, Z:35.50 [[ 9.79042975e-01 -2.03276740e-01 -1.23863052e-02 1.72152770e+01] [ 2.03274356e-01 9.79120724e-01 -1.46442420e-03 -2.50427233e+01] [ 1.24253715e-02 -1.08408398e-03 9.99922214e-01 3.54973330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11420609899999 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:17.23, Y:-25.04, Z:35.53 [[ 9.80213834e-01 -1.97060102e-01 -1.86589170e-02 1.72261292e+01] [ 1.97014718e-01 9.80391283e-01 -4.25823023e-03 -2.50365789e+01] [ 1.91321668e-02 4.97894918e-04 9.99816839e-01 3.55282401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14420609899999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:17.23, Y:-25.04, Z:35.56 [[ 9.78118851e-01 -2.07628048e-01 -1.31949386e-02 1.72330590e+01] [ 2.07589060e-01 9.78206786e-01 -4.27382935e-03 -2.50399224e+01] [ 1.37947453e-02 1.44118816e-03 9.99903809e-01 3.55563619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17420609899999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:17.24, Y:-25.03, Z:35.59 [[ 9.81687041e-01 -1.89899890e-01 -1.51190162e-02 1.72367838e+01] [ 1.89881776e-01 9.81803419e-01 -2.63791060e-03 -2.50292026e+01] [ 1.53448407e-02 -2.81222980e-04 9.99882221e-01 3.55896547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20420609899999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:17.25, Y:-25.02, Z:35.62 [[ 9.82192556e-01 -1.86394138e-01 -2.35586002e-02 1.72498256e+01] [ 1.86327071e-01 9.82474896e-01 -5.02996054e-03 -2.50244833e+01] [ 2.40832884e-02 5.50784831e-04 9.99709804e-01 3.56207326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.23420609899999 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:17.26, Y:-25.02, Z:35.65 [[ 9.82100191e-01 -1.87021075e-01 -2.24127744e-02 1.72555818e+01] [ 1.86951225e-01 9.82355482e-01 -5.19101940e-03 -2.50228455e+01] [ 2.29881418e-02 9.08005528e-04 9.99735325e-01 3.56533296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26420609899999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:17.27, Y:-25.03, Z:35.68 [[ 9.77986118e-01 -2.07875797e-01 -1.81880950e-02 1.72665874e+01] [ 2.07716165e-01 9.78135060e-01 -1.02858399e-02 -2.50320285e+01] [ 1.99285906e-02 6.28144731e-03 9.99781674e-01 3.56833110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.294206099 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:17.27, Y:-25.01, Z:35.71 [[ 9.85930757e-01 -1.65066218e-01 -2.63379041e-02 1.72700672e+01] [ 1.65113579e-01 9.86274485e-01 -3.81311475e-04 -2.50069289e+01] [ 2.60393444e-02 -3.97279890e-03 9.99653025e-01 3.57149022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32420609899998 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:17.28, Y:-25.03, Z:35.74 [[ 9.78491761e-01 -2.05186331e-01 -2.12707173e-02 1.72820602e+01] [ 2.05015151e-01 9.78708105e-01 -9.96154450e-03 -2.50268011e+01] [ 2.28617962e-02 5.38646991e-03 9.99724124e-01 3.57443495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.35420609899998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:17.28, Y:-25.00, Z:35.78 [[ 9.86244409e-01 -1.62731536e-01 -2.89898699e-02 1.72843914e+01] [ 1.62761304e-01 9.86664556e-01 -1.34573062e-03 -2.50020779e+01] [ 2.88222700e-02 -3.39120973e-03 9.99578800e-01 3.57766169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38420609899998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:17.29, Y:-25.00, Z:35.81 [[ 9.85131449e-01 -1.68776397e-01 -3.21022673e-02 1.72935567e+01] [ 1.68648953e-01 9.85653702e-01 -6.65664194e-03 -2.50027894e+01] [ 3.27652026e-02 1.14365356e-03 9.99462422e-01 3.58079848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.41420609899998 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:17.29, Y:-25.00, Z:35.84 [[ 9.86519890e-01 -1.61574176e-01 -2.59286167e-02 1.72937101e+01] [ 1.61487347e-01 9.86859886e-01 -5.42231830e-03 -2.49987329e+01] [ 2.64640183e-02 1.16208134e-03 9.99649091e-01 3.58419772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.31, Y:-24.99, Z:35.87 [[ 9.86624769e-01 -1.58714509e-01 -3.71654265e-02 1.73062531e+01] [ 1.58564959e-01 9.87324042e-01 -6.95631225e-03 -2.49949782e+01] [ 3.77983867e-02 9.70135642e-04 9.99284915e-01 3.58731878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.47420609899999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:17.31, Y:-25.00, Z:35.91 [[ 9.86143111e-01 -1.61498266e-01 -3.79483200e-02 1.73134939e+01] [ 1.61339352e-01 9.86872478e-01 -7.23360924e-03 -2.49953649e+01] [ 3.86183680e-02 1.01081654e-03 9.99253521e-01 3.59050042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50420609899999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:17.33, Y:-25.01, Z:35.94 [[ 9.80696475e-01 -1.92778362e-01 -3.27250209e-02 1.73254005e+01] [ 1.92360141e-01 9.81201821e-01 -1.55100551e-02 -2.50101999e+01] [ 3.50998531e-02 8.91566669e-03 9.99344040e-01 3.59353359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53420609899999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:17.33, Y:-24.98, Z:35.97 [[ 9.90145867e-01 -1.34489753e-01 -3.90341886e-02 1.73281584e+01] [ 1.34622644e-01 9.90896629e-01 7.84254946e-04 -2.49773203e+01] [ 3.85733716e-02 -6.03141248e-03 9.99237568e-01 3.59668074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56420609899999 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:17.34, Y:-24.99, Z:36.00 [[ 9.86211857e-01 -1.61422542e-01 -3.64545668e-02 1.73377085e+01] [ 1.61289435e-01 9.86885195e-01 -6.58251436e-03 -2.49904905e+01] [ 3.70390385e-02 6.12017211e-04 9.99313632e-01 3.59990604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.59420609899999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:17.35, Y:-25.00, Z:36.03 [[ 9.82471310e-01 -1.83544973e-01 -3.25786515e-02 1.73479327e+01] [ 1.83231879e-01 9.82991836e-01 -1.23745428e-02 -2.50009545e+01] [ 3.42958335e-02 6.18818579e-03 9.99392567e-01 3.60279378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62420609899999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:17.35, Y:-24.98, Z:36.06 [[ 9.89367668e-01 -1.40071842e-01 -3.91343359e-02 1.73510242e+01] [ 1.40133638e-01 9.90131904e-01 -1.17312556e-03 -2.49761434e+01] [ 3.89124764e-02 -4.32338435e-03 9.99233270e-01 3.60596478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65420609899999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:17.36, Y:-25.00, Z:36.09 [[ 9.83015965e-01 -1.80065247e-01 -3.54417855e-02 1.73631902e+01] [ 1.79747604e-01 9.83639815e-01 -1.19797016e-02 -2.49957192e+01] [ 3.70190793e-02 5.40566183e-03 9.99299938e-01 3.60898375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.684206099 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:17.37, Y:-24.97, Z:36.12 [[ 9.89570625e-01 -1.38242194e-01 -4.04854696e-02 1.73663313e+01] [ 1.38255004e-01 9.90393518e-01 -2.49673242e-03 -2.49731221e+01] [ 4.04417005e-02 -3.12662572e-03 9.99177008e-01 3.61226030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71420609899998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:17.38, Y:-25.00, Z:36.15 [[ 9.82060886e-01 -1.84379824e-01 -3.95031323e-02 1.73769333e+01] [ 1.83935520e-01 9.82829392e-01 -1.46325073e-02 -2.49959064e+01] [ 4.15227786e-02 7.10398388e-03 9.99112302e-01 3.61522951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74420609899998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:17.38, Y:-24.98, Z:36.18 [[ 9.86852245e-01 -1.55917752e-01 -4.25711285e-02 1.73830444e+01] [ 1.55767551e-01 9.87770034e-01 -6.84327425e-03 -2.49791371e+01] [ 4.31174729e-02 1.22100125e-04 9.99070002e-01 3.61827369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.77420609899998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:17.39, Y:-24.98, Z:36.21 [[ 9.86716696e-01 -1.56372544e-01 -4.40203359e-02 1.73910245e+01] [ 1.56166125e-01 9.87697501e-01 -8.11097476e-03 -2.49775951e+01] [ 4.47471096e-02 1.12874891e-03 9.98997709e-01 3.62133939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80420609899998 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:17.40, Y:-24.97, Z:36.24 [[ 9.87589588e-01 -1.50109449e-01 -4.61947967e-02 1.73982188e+01] [ 1.49867573e-01 9.88668017e-01 -8.67535781e-03 -2.49731861e+01] [ 4.69735712e-02 1.64459098e-03 9.98894779e-01 3.62445550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.83420609899999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:17.41, Y:-24.97, Z:36.28 [[ 9.86786757e-01 -1.54841464e-01 -4.77076118e-02 1.74068909e+01] [ 1.54444996e-01 9.87929602e-01 -1.19098260e-02 -2.49741501e+01] [ 4.89758968e-02 4.38425664e-03 9.98790338e-01 3.62761379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86420609899999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:17.41, Y:-24.94, Z:36.31 [[ 9.93605796e-01 -1.00251519e-01 -5.19341336e-02 1.74090545e+01] [ 1.00458980e-01 9.94940225e-01 1.39323532e-03 -2.49443591e+01] [ 5.15316846e-02 -6.60157679e-03 9.98649540e-01 3.63081106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89420609899999 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:17.42, Y:-24.96, Z:36.34 [[ 9.89754632e-01 -1.33371545e-01 -5.09686108e-02 1.74174638e+01] [ 1.33149610e-01 9.91065722e-01 -7.74051226e-03 -2.49599339e+01] [ 5.15456072e-02 8.74757219e-04 9.98670258e-01 3.63403251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92420609899999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:17.43, Y:-24.97, Z:36.37 [[ 9.85715586e-01 -1.61229872e-01 -4.86796970e-02 1.74284897e+01] [ 1.60713788e-01 9.86896561e-01 -1.43616416e-02 -2.49723989e+01] [ 5.03573511e-02 6.33299545e-03 9.98711185e-01 3.63706413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.95420609899999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:17.43, Y:-24.95, Z:36.40 [[ 9.92091461e-01 -1.13408564e-01 -5.37869091e-02 1.74302621e+01] [ 1.13442528e-01 9.93541586e-01 -2.43109615e-03 -2.49454286e+01] [ 5.37152381e-02 -3.68985320e-03 9.98549477e-01 3.64030974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98420609899999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:17.44, Y:-24.95, Z:36.43 [[ 9.89561536e-01 -1.34326242e-01 -5.21960437e-02 1.74390814e+01] [ 1.34104788e-01 9.90936945e-01 -7.73805848e-03 -2.49546145e+01] [ 5.27624124e-02 6.57545654e-04 9.98606877e-01 3.64348022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01420609899999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:17.45, Y:-24.95, Z:36.47 [[ 9.89898328e-01 -1.32140224e-01 -5.13834658e-02 1.74465937e+01] [ 1.31904886e-01 9.91230421e-01 -7.95943748e-03 -2.49519692e+01] [ 5.19846163e-02 1.10130366e-03 9.98647278e-01 3.64671989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.044206099 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:17.45, Y:-24.95, Z:36.50 [[ 9.89850968e-01 -1.32644156e-01 -5.09959729e-02 1.74535367e+01] [ 1.32422607e-01 9.91163331e-01 -7.71390070e-03 -2.49506426e+01] [ 5.15685422e-02 8.82592401e-04 9.98669068e-01 3.64992727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07420609899998 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:17.47, Y:-24.96, Z:36.53 [[ 9.85176859e-01 -1.63510319e-01 -5.18741985e-02 1.74655906e+01] [ 1.62852165e-01 9.86509158e-01 -1.66989211e-02 -2.49649172e+01] [ 5.39048178e-02 8.00356514e-03 9.98514003e-01 3.65291706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10420609899998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:17.47, Y:-24.95, Z:36.56 [[ 9.90357888e-01 -1.27727377e-01 -5.36374067e-02 1.74715206e+01] [ 1.27542569e-01 9.91809314e-01 -6.86858920e-03 -2.49455214e+01] [ 5.40753864e-02 -3.86911532e-05 9.98536855e-01 3.65596692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.13420609899998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:17.47, Y:-24.93, Z:36.59 [[ 9.92945710e-01 -1.05273248e-01 -5.45560208e-02 1.74746990e+01] [ 1.05387298e-01 9.94430939e-01 -7.90180718e-04 -2.49314699e+01] [ 5.43353799e-02 -4.96490508e-03 9.98510399e-01 3.65922227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16420609899998 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:17.49, Y:-24.94, Z:36.62 [[ 9.90221768e-01 -1.30063196e-01 -5.04421920e-02 1.74887455e+01] [ 1.29866653e-01 9.91505555e-01 -7.16849260e-03 -2.49407175e+01] [ 5.09460706e-02 5.47638786e-04 9.98701256e-01 3.66236654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.19420609899998 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:17.50, Y:-24.94, Z:36.66 [[ 9.90705674e-01 -1.27646602e-01 -4.69958841e-02 1.74977169e+01] [ 1.27478924e-01 9.91819584e-01 -6.56027294e-03 -2.49380653e+01] [ 4.74488348e-02 5.08314861e-04 9.98873540e-01 3.66557858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22420609899999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:17.51, Y:-24.94, Z:36.69 [[ 9.91419137e-01 -1.22667766e-01 -4.51742699e-02 1.75059416e+01] [ 1.22531820e-01 9.92447773e-01 -5.77672997e-03 -2.49351355e+01] [ 4.55417221e-02 1.91875120e-04 9.98962419e-01 3.66873676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25420609899999 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:17.52, Y:-24.94, Z:36.72 [[ 9.89637262e-01 -1.36668613e-01 -4.40429333e-02 1.75162134e+01] [ 1.36306955e-01 9.90604164e-01 -1.11267718e-02 -2.49429932e+01] [ 4.51497936e-02 5.00810989e-03 9.98967675e-01 3.67173539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28420609899999 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:17.52, Y:-24.93, Z:36.75 [[ 9.91321513e-01 -1.20301397e-01 -5.30021943e-02 1.75244211e+01] [ 1.19950992e-01 9.92731887e-01 -9.75495810e-03 -2.49327433e+01] [ 5.37905034e-02 3.31263405e-03 9.98546748e-01 3.67475907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31420609899999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:17.53, Y:-24.92, Z:36.78 [[ 9.94483557e-01 -8.84444884e-02 -5.63917288e-02 1.75267724e+01] [ 8.85096913e-02 9.96074407e-01 -1.34520954e-03 -2.49150872e+01] [ 5.62893342e-02 -3.65342574e-03 9.98407814e-01 3.67796606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34420609899999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:17.53, Y:-24.92, Z:36.81 [[ 9.92781851e-01 -1.06144185e-01 -5.58355542e-02 1.75346030e+01] [ 1.05934744e-01 9.94350472e-01 -6.70593197e-03 -2.49230907e+01] [ 5.62319054e-02 7.42602418e-04 9.98417458e-01 3.68124628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.54, Y:-24.92, Z:36.84 [[ 9.92859811e-01 -1.04998125e-01 -5.66108515e-02 1.75427915e+01] [ 1.04777154e-01 9.94472026e-01 -6.86569014e-03 -2.49214341e+01] [ 5.70187928e-02 8.85143912e-04 9.98372713e-01 3.68441883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40420609899999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:17.55, Y:-24.94, Z:36.87 [[ 9.89442959e-01 -1.34779422e-01 -5.32647978e-02 1.75523121e+01] [ 1.34130690e-01 9.90841036e-01 -1.55884398e-02 -2.49370524e+01] [ 5.48779483e-02 8.27942789e-03 9.98458743e-01 3.68740868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.434206099 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:17.55, Y:-24.90, Z:36.91 [[ 9.95823353e-01 -7.18575275e-02 -5.63235834e-02 1.75543315e+01] [ 7.20555194e-02 9.97399510e-01 1.48971617e-03 -2.49039959e+01] [ 5.60700672e-02 -5.54191920e-03 9.98411456e-01 3.69064443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46420609899998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:17.56, Y:-24.92, Z:36.94 [[ 9.93781092e-01 -9.71072847e-02 -5.44914269e-02 1.75620704e+01] [ 9.69290617e-02 9.95273744e-01 -5.91032244e-03 -2.49163031e+01] [ 5.48078218e-02 5.91763806e-04 9.98496746e-01 3.69391866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.49420609899998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:17.57, Y:-24.92, Z:36.97 [[ 9.92831547e-01 -1.08444369e-01 -5.02527415e-02 1.75693691e+01] [ 1.08132545e-01 9.94096728e-01 -8.89085927e-03 -2.49214837e+01] [ 5.09202496e-02 3.39316872e-03 9.98696958e-01 3.69716562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52420609899998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:17.58, Y:-24.91, Z:37.00 [[ 9.95474703e-01 -7.70622264e-02 -5.56015107e-02 1.75750599e+01] [ 7.70273274e-02 9.97025124e-01 -2.77366453e-03 -2.49052262e+01] [ 5.56498479e-02 -1.52172289e-03 9.98449187e-01 3.70026895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.55420609899998 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:17.58, Y:-24.91, Z:37.04 [[ 9.95103709e-01 -8.23028475e-02 -5.47252197e-02 1.75816573e+01] [ 8.20953650e-02 9.96606221e-01 -6.03245939e-03 -2.49079310e+01] [ 5.50359830e-02 1.51023583e-03 9.98483230e-01 3.70352923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58420609899999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:17.59, Y:-24.91, Z:37.07 [[ 9.95245763e-01 -8.13192158e-02 -5.36009021e-02 1.75874351e+01] [ 8.11508768e-02 9.96687667e-01 -5.31321576e-03 -2.49061189e+01] [ 5.38554246e-02 9.38195272e-04 9.98548303e-01 3.70679686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61420609899999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:17.59, Y:-24.89, Z:37.10 [[ 9.97203548e-01 -5.80759016e-02 -4.70348103e-02 1.75893765e+01] [ 5.82116858e-02 9.98303103e-01 1.52114519e-03 -2.48924125e+01] [ 4.68666552e-02 -4.25486697e-03 9.98892093e-01 3.71000157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64420609899999 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:17.60, Y:-24.91, Z:37.13 [[ 9.93944872e-01 -9.92806712e-02 -4.70843966e-02 1.75994412e+01] [ 9.88976827e-02 9.95043251e-01 -1.04008404e-02 -2.49118335e+01] [ 4.78836134e-02 5.68132428e-03 9.98836765e-01 3.71317557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67420609899999 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:17.61, Y:-24.90, Z:37.16 [[ 9.95062005e-01 -8.65701837e-02 -4.85511036e-02 1.76080688e+01] [ 8.63196248e-02 9.96241204e-01 -7.23783850e-03 -2.49043240e+01] [ 4.89951909e-02 3.01118504e-03 9.98794475e-01 3.71640512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70420609899999 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:17.61, Y:-24.90, Z:37.20 [[ 9.96035025e-01 -7.43736598e-02 -4.88138010e-02 1.76148037e+01] [ 7.42538673e-02 9.97230249e-01 -4.26540525e-03 -2.48972662e+01] [ 4.89958327e-02 6.23879520e-04 9.98798788e-01 3.71967595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.73420609899999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:17.62, Y:-24.89, Z:37.23 [[ 9.97392591e-01 -5.63712852e-02 -4.50588232e-02 1.76186786e+01] [ 5.64188818e-02 9.98407163e-01 -2.15722201e-04 -2.48878920e+01] [ 4.49992124e-02 -2.32700870e-03 9.98984312e-01 3.72286137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76420609899999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:17.63, Y:-24.90, Z:37.26 [[ 9.96216251e-01 -7.53600490e-02 -4.32902320e-02 1.76259230e+01] [ 7.51748850e-02 9.97152959e-01 -5.89171590e-03 -2.48964213e+01] [ 4.36109829e-02 2.61508491e-03 9.99045166e-01 3.72603706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.794206099 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:17.64, Y:-24.90, Z:37.29 [[ 9.95676032e-01 -7.95326098e-02 -4.79979601e-02 1.76351941e+01] [ 7.92447047e-02 9.96824090e-01 -7.87467408e-03 -2.48965403e+01] [ 4.84718163e-02 4.03704006e-03 9.98816392e-01 3.72923868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82420609899998 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:17.64, Y:-24.88, Z:37.32 [[ 9.97510530e-01 -5.44689569e-02 -4.47869996e-02 1.76386101e+01] [ 5.44769160e-02 9.98514485e-01 -1.04371817e-03 -2.48831727e+01] [ 4.47773181e-02 -1.39873776e-03 9.98996014e-01 3.73242236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.85420609899998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:17.65, Y:-24.89, Z:37.36 [[ 9.96704245e-01 -6.82443502e-02 -4.38560818e-02 1.76454275e+01] [ 6.80785145e-02 9.97666071e-01 -5.26559454e-03 -2.48881799e+01] [ 4.41130719e-02 2.26258354e-03 9.99023983e-01 3.73563388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88420609899998 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:17.65, Y:-24.89, Z:37.39 [[ 9.96668258e-01 -6.79821452e-02 -4.50645247e-02 1.76525850e+01] [ 6.77917584e-02 9.97682972e-01 -5.74143297e-03 -2.48877510e+01] [ 4.53504239e-02 2.66730062e-03 9.98967579e-01 3.73883090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.91420609899998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:17.66, Y:-24.88, Z:37.42 [[ 9.97229797e-01 -5.94238993e-02 -4.47384762e-02 1.76585371e+01] [ 5.93271084e-02 9.98232497e-01 -3.48932635e-03 -2.48828249e+01] [ 4.48667502e-02 8.25455788e-04 9.98992639e-01 3.74203557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94420609899998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:17.67, Y:-24.88, Z:37.45 [[ 9.97030963e-01 -6.15733228e-02 -4.62383372e-02 1.76659365e+01] [ 6.13989857e-02 9.98099847e-01 -5.18258804e-03 -2.48824566e+01] [ 4.64695865e-02 2.32821374e-03 9.98916992e-01 3.74528139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.97420609899999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:17.67, Y:-24.88, Z:37.49 [[ 9.97632467e-01 -4.89619037e-02 -4.82927888e-02 1.76709341e+01] [ 4.88772927e-02 9.98800487e-01 -2.93209963e-03 -2.48757669e+01] [ 4.83784222e-02 5.64737015e-04 9.98828919e-01 3.74850704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00420609899999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:17.68, Y:-24.87, Z:37.52 [[ 9.97713563e-01 -4.72722140e-02 -4.83009754e-02 1.76779844e+01] [ 4.71929424e-02 9.98881921e-01 -2.78092350e-03 -2.48743552e+01] [ 4.83784315e-02 4.95099947e-04 9.98828955e-01 3.75178160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03420609899999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:17.69, Y:-24.88, Z:37.55 [[ 9.97268391e-01 -5.86876858e-02 -4.48498798e-02 1.76874525e+01] [ 5.84949755e-02 9.98272005e-01 -5.59831395e-03 -2.48796664e+01] [ 4.51009315e-02 2.95952893e-03 9.98978051e-01 3.75476300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06420609899999 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:17.70, Y:-24.88, Z:37.58 [[ 9.97463862e-01 -5.53142868e-02 -4.47903234e-02 1.76951570e+01] [ 5.50258341e-02 9.98455636e-01 -7.64853504e-03 -2.48767805e+01] [ 4.51442241e-02 5.16451240e-03 9.98967130e-01 3.75799979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.09420609899999 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:17.70, Y:-24.87, Z:37.61 [[ 9.98195298e-01 -3.77528942e-02 -4.66997473e-02 1.77025058e+01] [ 3.76063665e-02 9.99284574e-01 -4.01258084e-03 -2.48667996e+01] [ 4.68178237e-02 2.24913151e-03 9.98900912e-01 3.76107324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12420609899999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:17.71, Y:-24.85, Z:37.64 [[ 9.98640975e-01 -1.56615722e-02 -4.97083267e-02 1.77069131e+01] [ 1.58337950e-02 9.99869916e-01 3.07275693e-03 -2.48535014e+01] [ 4.96537363e-02 -3.85565243e-03 9.98759050e-01 3.76423063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15420609899999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:17.71, Y:-24.86, Z:37.68 [[ 9.98166166e-01 -3.47793425e-02 -4.95449551e-02 1.77139427e+01] [ 3.47104100e-02 9.99394876e-01 -2.25128413e-03 -2.48630880e+01] [ 4.95932724e-02 5.27429944e-04 9.98769357e-01 3.76751538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.184206099 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:17.72, Y:-24.86, Z:37.71 [[ 9.98253163e-01 -2.94216222e-02 -5.12346600e-02 1.77219742e+01] [ 2.93434945e-02 9.99566794e-01 -2.27659304e-03 -2.48603455e+01] [ 5.12794459e-02 7.69212243e-04 9.98684048e-01 3.77068724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21420609899998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:17.73, Y:-24.86, Z:37.74 [[ 9.98296968e-01 -2.78903600e-02 -5.12376023e-02 1.77289607e+01] [ 2.78139025e-02 9.99610687e-01 -2.20477397e-03 -2.48591343e+01] [ 5.12791468e-02 7.75901495e-04 9.98684058e-01 3.77396388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24420609899998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:17.74, Y:-24.88, Z:37.77 [[ 9.95615264e-01 -7.75353961e-02 -5.23307507e-02 1.77406114e+01] [ 7.69362485e-02 9.96946349e-01 -1.33712352e-02 -2.48830422e+01] [ 5.32076949e-02 9.28647419e-03 9.98540286e-01 3.77677572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.27420609899998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:17.75, Y:-24.86, Z:37.80 [[ 9.97575659e-01 -4.24591129e-02 -5.51364542e-02 1.77479900e+01] [ 4.22608966e-02 9.99095287e-01 -4.75652303e-03 -2.48642503e+01] [ 5.52885292e-02 2.41487561e-03 9.98467499e-01 3.77991870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30420609899998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:17.75, Y:-24.83, Z:37.83 [[ 9.98200251e-01 1.39478832e-02 -5.83242274e-02 1.77532104e+01] [-1.34888998e-02 9.99874938e-01 8.25584309e-03 -2.48343675e+01] [ 5.84320848e-02 -7.45425498e-03 9.98263555e-01 3.78307240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.33420609899999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:17.76, Y:-24.87, Z:37.86 [[ 9.97165046e-01 -5.60439458e-02 -5.02090405e-02 1.77594127e+01] [ 5.55682384e-02 9.98396242e-01 -1.08219521e-02 -2.48719019e+01] [ 5.07350223e-02 8.00124446e-03 9.98680098e-01 3.78607398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36420609899999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:17.77, Y:-24.85, Z:37.89 [[ 9.98431340e-01 -1.21263767e-02 -5.46608603e-02 1.77683665e+01] [ 1.22119732e-02 9.99924672e-01 1.23220769e-03 -2.48484727e+01] [ 5.46418006e-02 -1.89779173e-03 9.98504217e-01 3.78935411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39420609899999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:17.77, Y:-24.86, Z:37.92 [[ 9.97589641e-01 -4.02393858e-02 -5.65305233e-02 1.77748749e+01] [ 3.99216939e-02 9.99180090e-01 -6.73839315e-03 -2.48623153e+01] [ 5.67553222e-02 4.46535695e-03 9.98378132e-01 3.79234589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42420609899999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:17.78, Y:-24.85, Z:37.95 [[ 9.97965697e-01 -2.52274186e-02 -5.85495160e-02 1.77823139e+01] [ 2.50522195e-02 9.99679206e-01 -3.72454004e-03 -2.48538154e+01] [ 5.86246942e-02 2.25016786e-03 9.98277558e-01 3.79541261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.45420609899999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:17.79, Y:-24.83, Z:37.99 [[ 9.97834452e-01 1.27869560e-02 -6.45205467e-02 1.77884964e+01] [-1.25577443e-02 9.99913319e-01 3.95684396e-03 -2.48335905e+01] [ 6.45655500e-02 -3.13804270e-03 9.97908534e-01 3.79860166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:17.80, Y:-24.86, Z:38.02 [[ 9.97309097e-01 -3.58704193e-02 -6.39365116e-02 1.77976566e+01] [ 3.53782594e-02 9.99335129e-01 -8.81358868e-03 -2.48588271e+01] [ 6.42101491e-02 6.52790967e-03 9.97915048e-01 3.80164535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51420609899999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:17.80, Y:-24.83, Z:38.05 [[ 9.97684369e-01 1.93639033e-02 -6.51992213e-02 1.78029875e+01] [-1.91240536e-02 9.99807868e-01 4.30087342e-03 -2.48301769e+01] [ 6.52699761e-02 -3.04404079e-03 9.97862999e-01 3.80487298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.544206099 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:17.81, Y:-24.84, Z:38.08 [[ 9.97972039e-01 -2.37781157e-03 -6.36093905e-02 1.78090796e+01] [ 2.29049804e-03 9.99996332e-01 -1.44553893e-03 -2.48407419e+01] [ 6.36125944e-02 1.29691025e-03 9.97973825e-01 3.80809506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57420609899998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:17.82, Y:-24.84, Z:38.11 [[ 9.98025561e-01 4.14490845e-03 -6.26721531e-02 1.78170043e+01] [-4.22695206e-03 9.99990374e-01 -1.17656156e-03 -2.48375597e+01] [ 6.26666731e-02 1.43915070e-03 9.98033475e-01 3.81133138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60420609899998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:17.83, Y:-24.86, Z:38.14 [[ 9.97395867e-01 -3.30809218e-02 -6.40869568e-02 1.78260920e+01] [ 3.25360450e-02 9.99425151e-01 -9.52749954e-03 -2.48557418e+01] [ 6.43652949e-02 7.41755255e-03 9.97898837e-01 3.81433701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.63420609899998 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:17.83, Y:-24.83, Z:38.17 [[ 9.97911175e-01 1.97075070e-02 -6.15215518e-02 1.78304071e+01] [-1.95640333e-02 9.99804302e-01 2.93365254e-03 -2.48282428e+01] [ 6.15673271e-02 -1.72391497e-03 9.98101444e-01 3.81740493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66420609899998 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:17.84, Y:-24.84, Z:38.21 [[ 9.97720859e-01 -8.36919117e-03 -6.69555446e-02 1.78384932e+01] [ 8.06439736e-03 9.99955860e-01 -4.82117348e-03 -2.48418865e+01] [ 6.69929385e-02 4.27022923e-03 9.97744312e-01 3.82062608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.69420609899998 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:17.84, Y:-24.82, Z:38.24 [[ 9.96992059e-01 3.78437943e-02 -6.76363907e-02 1.78446820e+01] [-3.74730932e-02 9.99274896e-01 6.74159743e-03 -2.48174240e+01] [ 6.78424749e-02 -4.18677433e-03 9.97687260e-01 3.82380952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72420609899999 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:17.85, Y:-24.84, Z:38.27 [[ 9.97611319e-01 -1.58803183e-02 -6.72270226e-02 1.78531839e+01] [ 1.54793920e-02 9.99859186e-01 -6.48051156e-03 -2.48443831e+01] [ 6.73204687e-02 5.42439824e-03 9.97716658e-01 3.82681419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75420609899999 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:17.86, Y:-24.83, Z:38.30 [[ 9.97413013e-01 5.16838131e-03 -7.16977673e-02 1.78610442e+01] [-5.33400939e-03 9.99983529e-01 -2.11881350e-03 -2.48331529e+01] [ 7.16856355e-02 2.49576872e-03 9.97424153e-01 3.82984014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78420609899999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:17.87, Y:-24.83, Z:38.33 [[ 9.97212207e-01 1.35729252e-02 -7.33729483e-02 1.78680153e+01] [-1.36097989e-02 9.99907382e-01 -2.58343475e-06 -2.48292279e+01] [ 7.33661177e-02 1.00116731e-03 9.97304573e-01 3.83297430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81420609899999 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:17.87, Y:-24.83, Z:38.36 [[ 9.96823968e-01 1.80677306e-02 -7.75598773e-02 1.78744182e+01] [-1.80872441e-02 9.99836311e-01 4.50937723e-04 -2.48269101e+01] [ 7.75553290e-02 9.53338900e-04 9.96987594e-01 3.83583341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84420609899999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:17.88, Y:-24.83, Z:38.39 [[ 9.97015080e-01 1.11506399e-02 -7.63976064e-02 1.78800659e+01] [-1.13845691e-02 9.99931743e-01 -2.62715398e-03 -2.48297019e+01] [ 7.63630972e-02 3.48906597e-03 9.97073971e-01 3.83897368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:17.89, Y:-24.82, Z:38.42 [[ 9.96395277e-01 3.39143894e-02 -7.77577460e-02 1.78877421e+01] [-3.37883817e-02 9.99424697e-01 2.93597066e-03 -2.48180078e+01] [ 7.78125834e-02 -2.98078900e-04 9.96967960e-01 3.84231323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90420609899999 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:17.89, Y:-24.81, Z:38.45 [[ 9.95421432e-01 5.67753659e-02 -7.68942844e-02 1.78938990e+01] [-5.63580735e-02 9.98381787e-01 7.58778195e-03 -2.48062747e+01] [ 7.72006522e-02 -3.21942704e-03 9.97010378e-01 3.84549048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93420609899998 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:17.90, Y:-24.84, Z:38.49 [[ 9.97014917e-01 -3.30677163e-03 -7.71383192e-02 1.78992890e+01] [ 2.82644876e-03 9.99975938e-01 -6.33511978e-03 -2.48368119e+01] [ 7.71574119e-02 6.09818142e-03 9.97000274e-01 3.84859104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96420609899998 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:17.91, Y:-24.81, Z:38.52 [[ 9.95789614e-01 4.53990004e-02 -7.96365155e-02 1.79066519e+01] [-4.49158444e-02 9.98959941e-01 7.84880337e-03 -2.48098275e+01] [ 7.99100166e-02 -4.23881554e-03 9.96793069e-01 3.85172148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.99420609899998 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:17.91, Y:-24.82, Z:38.55 [[ 9.96514166e-01 2.76244024e-02 -7.87172810e-02 1.79116498e+01] [-2.75546230e-02 9.99618353e-01 1.97272297e-03 -2.48198003e+01] [ 7.87417341e-02 2.03178626e-04 9.96895029e-01 3.85494573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02420609899998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:17.92, Y:-24.82, Z:38.58 [[ 9.96234176e-01 3.17841537e-02 -8.06674346e-02 1.79192015e+01] [-3.17075786e-02 9.99494700e-01 2.23038880e-03 -2.48183664e+01] [ 8.06975644e-02 3.35779475e-04 9.96738577e-01 3.85813846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.05420609899998 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:17.93, Y:-24.82, Z:38.61 [[ 9.96250911e-01 3.40391696e-02 -7.95327464e-02 1.79251826e+01] [-3.39733540e-02 9.99420359e-01 2.18091689e-03 -2.48171228e+01] [ 7.95608826e-02 5.29253707e-04 9.96829868e-01 3.86141928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08420609899999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:17.93, Y:-24.84, Z:38.64 [[ 9.96745399e-01 -3.26413163e-03 -8.05478438e-02 1.79331797e+01] [ 2.70156705e-03 9.99971201e-01 -7.09222090e-03 -2.48352323e+01] [ 8.05686740e-02 6.85153315e-03 9.96725511e-01 3.86441280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11420609899999 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:17.94, Y:-24.80, Z:38.68 [[ 9.94511161e-01 6.53173053e-02 -8.17386038e-02 1.79387844e+01] [-6.46604483e-02 9.97850381e-01 1.06603295e-02 -2.47999417e+01] [ 8.22592010e-02 -5.31656187e-03 9.96596788e-01 3.86763730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14420609899999 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:17.94, Y:-24.81, Z:38.71 [[ 9.95503161e-01 4.49409872e-02 -8.33892358e-02 1.79445262e+01] [-4.48482198e-02 9.98989349e-01 2.98627178e-03 -2.48111225e+01] [ 8.34391644e-02 7.67015784e-04 9.96512578e-01 3.87090584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17420609899999 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:17.95, Y:-24.81, Z:38.74 [[ 9.95326754e-01 4.87478896e-02 -8.33564388e-02 1.79508763e+01] [-4.86079273e-02 9.98811050e-01 3.70889512e-03 -2.48092947e+01] [ 8.34381330e-02 3.60221174e-04 9.96512894e-01 3.87419795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20420609899999 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:17.96, Y:-24.82, Z:38.77 [[ 9.95851238e-01 3.13772229e-02 -8.54153531e-02 1.79593409e+01] [-3.16590521e-02 9.99496831e-01 -1.94662142e-03 -2.48195499e+01] [ 8.53112951e-02 4.64271446e-03 9.96343529e-01 3.87728386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.23420609899999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:17.97, Y:-24.80, Z:38.80 [[ 9.93951391e-01 7.18142842e-02 -8.30863503e-02 1.79650295e+01] [-7.13948131e-02 9.97415951e-01 8.01261350e-03 -2.47975194e+01] [ 8.34470712e-02 -2.03221388e-03 9.96510139e-01 3.88046243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26420609899999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:17.97, Y:-24.80, Z:38.84 [[ 9.94764371e-01 5.91831987e-02 -8.33138400e-02 1.79706448e+01] [-5.90326482e-02 9.98246914e-01 4.27144272e-03 -2.48042138e+01] [ 8.34205813e-02 6.69157578e-04 9.96514204e-01 3.88375984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.294206099 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:17.98, Y:-24.81, Z:38.87 [[ 9.95352325e-01 5.39230088e-02 -7.97875877e-02 1.79761688e+01] [-5.38873966e-02 9.98543631e-01 2.60104983e-03 -2.48070710e+01] [ 7.98116440e-02 1.71058439e-03 9.96808495e-01 3.88685696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32420609899998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:17.98, Y:-24.80, Z:38.90 [[ 9.94382502e-01 6.39708357e-02 -8.43277692e-02 1.79827340e+01] [-6.37733667e-02 9.97951700e-01 5.03611488e-03 -2.48023359e+01] [ 8.44772051e-02 3.70041235e-04 9.96425343e-01 3.89014701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35420609899998 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:17.99, Y:-24.82, Z:38.93 [[ 9.95584609e-01 3.32123618e-02 -8.77964950e-02 1.79908044e+01] [-3.37018986e-02 9.99423524e-01 -4.09897683e-03 -2.48193918e+01] [ 8.76097458e-02 7.03978682e-03 9.96129998e-01 3.89318115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38420609899998 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:18.00, Y:-24.79, Z:38.96 [[ 9.91373043e-01 9.67840228e-02 -8.83874605e-02 1.79967520e+01] [-9.60277815e-02 9.95296627e-01 1.27784820e-02 -2.47874573e+01] [ 8.92084942e-02 -4.18059087e-03 9.96004200e-01 3.89640758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.41420609899998 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:18.00, Y:-24.80, Z:39.00 [[ 9.93317052e-01 7.33080080e-02 -8.91469069e-02 1.80009690e+01] [-7.31375100e-02 9.97308404e-01 5.18196972e-03 -2.47995509e+01] [ 8.92868393e-02 1.37264391e-03 9.96005008e-01 3.89969018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44420609899998 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:18.01, Y:-24.82, Z:39.03 [[ 9.95198725e-01 4.00328321e-02 -8.93133310e-02 1.80089726e+01] [-4.04451922e-02 9.99177804e-01 -2.81129839e-03 -2.48160945e+01] [ 8.91273537e-02 6.41009540e-03 9.95999611e-01 3.90270361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.47420609899999 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:18.01, Y:-24.79, Z:39.06 [[ 9.91164192e-01 9.70032932e-02 -9.04649452e-02 1.80149247e+01] [-9.62493208e-02 9.95276609e-01 1.26704164e-02 -2.47850314e+01] [ 9.12667160e-02 -3.85127348e-03 9.95819037e-01 3.90597331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50420609899999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:18.02, Y:-24.81, Z:39.09 [[ 9.95009740e-01 4.19756606e-02 -9.05188491e-02 1.80211196e+01] [-4.22028615e-02 9.99108884e-01 -5.96592204e-04 -2.48135810e+01] [ 9.04131440e-02 4.41376951e-03 9.95894564e-01 3.90897684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53420609899999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:18.03, Y:-24.80, Z:39.12 [[ 9.93683472e-01 6.35290982e-02 -9.25051902e-02 1.80286082e+01] [-6.33112905e-02 9.97979806e-01 5.29023448e-03 -2.48032978e+01] [ 9.26543957e-02 5.99804408e-04 9.95698149e-01 3.91202878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56420609899999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:18.03, Y:-24.79, Z:39.15 [[ 9.91520464e-01 8.97690510e-02 -9.39610978e-02 1.80340835e+01] [-8.90816409e-02 9.95958012e-01 1.14934345e-02 -2.47889636e+01] [ 9.46130629e-02 -3.02576677e-03 9.95509524e-01 3.91519952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.59420609899999 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:18.04, Y:-24.80, Z:39.18 [[ 9.92881688e-01 7.48464048e-02 -9.26497127e-02 1.80390673e+01] [-7.45399519e-02 9.97195057e-01 6.76862969e-03 -2.47969128e+01] [ 9.28964431e-02 1.85656662e-04 9.95675759e-01 3.91847461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62420609899999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:18.05, Y:-24.79, Z:39.22 [[ 9.92288722e-01 8.04320016e-02 -9.43068700e-02 1.80465208e+01] [-8.00995727e-02 9.96760053e-01 7.31127606e-03 -2.47946950e+01] [ 9.45893813e-02 2.99043219e-04 9.95516328e-01 3.92173638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65420609899999 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:18.05, Y:-24.81, Z:39.25 [[ 9.94334109e-01 5.02326192e-02 -9.36822505e-02 1.80535992e+01] [-5.04977905e-02 9.98724067e-01 -4.60597339e-04 -2.48107108e+01] [ 9.35395812e-02 5.18873430e-03 9.95602041e-01 3.92471420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68420609899998 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:18.06, Y:-24.78, Z:39.28 [[ 9.89391269e-01 1.10698906e-01 -9.40779931e-02 1.80605942e+01] [-1.09801961e-01 9.93845165e-01 1.46736879e-02 -2.47798347e+01] [ 9.51233198e-02 -4.18807061e-03 9.95456686e-01 3.92796759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71420609899998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:18.07, Y:-24.79, Z:39.31 [[ 9.91374851e-01 8.68626816e-02 -9.81365373e-02 1.80672181e+01] [-8.64148352e-02 9.96220261e-01 8.81291511e-03 -2.47922823e+01] [ 9.85311202e-02 -2.56449709e-04 9.95133937e-01 3.93116694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74420609899998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:18.07, Y:-24.79, Z:39.34 [[ 9.90528179e-01 9.79682250e-02 -9.62089013e-02 1.80704741e+01] [-9.76135995e-02 9.95188964e-01 8.39709586e-03 -2.47895351e+01] [ 9.65686854e-02 1.07373708e-03 9.95325744e-01 3.93445538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.77420609899998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:18.08, Y:-24.79, Z:39.38 [[ 9.90115745e-01 1.02128910e-01 -9.61275065e-02 1.80766606e+01] [-1.01711844e-01 9.94770975e-01 9.24165504e-03 -2.47878165e+01] [ 9.65686935e-02 6.26997806e-04 9.95326125e-01 3.93775237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80420609899998 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:18.08, Y:-24.80, Z:39.41 [[ 9.92511048e-01 7.27279972e-02 -9.81450896e-02 1.80847078e+01] [-7.29973367e-02 9.97331775e-01 8.48533285e-04 -2.48026372e+01] [ 9.79449285e-02 6.32215149e-03 9.95171755e-01 3.94072936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.83420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.09, Y:-24.79, Z:39.44 [[ 9.90261513e-01 9.70930848e-02 -9.97750916e-02 1.80938129e+01] [-9.67563551e-02 9.95274154e-01 8.21991939e-03 -2.47902695e+01] [ 1.00101667e-01 1.51400438e-03 9.94976062e-01 3.94382879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86420609899999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:18.10, Y:-24.80, Z:39.47 [[ 9.90499780e-01 8.80319211e-02 -1.05643584e-01 1.81017561e+01] [-8.79097525e-02 9.96111432e-01 5.82157831e-03 -2.47965229e+01] [ 1.05745267e-01 3.52082931e-03 9.94387018e-01 3.94668901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.11, Y:-24.79, Z:39.50 [[ 9.88827505e-01 1.08478597e-01 -1.02237763e-01 1.81079745e+01] [-1.07991021e-01 9.94098424e-01 1.03084269e-02 -2.47858966e+01] [ 1.02752642e-01 8.47504314e-04 9.94706578e-01 3.94964545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92420609899999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:18.12, Y:-24.78, Z:39.53 [[ 9.87745172e-01 1.15916800e-01 -1.04512057e-01 1.81151441e+01] [-1.15185225e-01 9.93258579e-01 1.30291792e-02 -2.47821872e+01] [ 1.05317798e-01 -8.31264148e-04 9.94438269e-01 3.95279265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.95420609899999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:18.12, Y:-24.78, Z:39.56 [[ 9.87205996e-01 1.18174763e-01 -1.07046940e-01 1.81231434e+01] [-1.17439639e-01 9.92992720e-01 1.31677158e-02 -2.47816244e+01] [ 1.07852924e-01 -4.27694023e-04 9.94166769e-01 3.95583165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98420609899999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:18.13, Y:-24.78, Z:39.59 [[ 9.87552255e-01 1.13671299e-01 -1.08716970e-01 1.81290456e+01] [-1.13118352e-01 9.93517714e-01 1.12601155e-02 -2.47841032e+01] [ 1.09292188e-01 1.17793205e-03 9.94008969e-01 3.95895273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01420609899999 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:18.13, Y:-24.77, Z:39.62 [[ 9.83303396e-01 1.44597900e-01 -1.10480218e-01 1.81344406e+01] [-1.43393413e-01 9.89486931e-01 1.88133404e-02 -2.47688105e+01] [ 1.12039101e-01 -2.65708596e-03 9.93700246e-01 3.96210107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.044206099 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:18.13, Y:-24.78, Z:39.65 [[ 9.87253421e-01 1.22909492e-01 -1.01113502e-01 1.81327562e+01] [-1.22196557e-01 9.92417627e-01 1.32383587e-02 -2.47784743e+01] [ 1.01973941e-01 -7.13893124e-04 9.94786814e-01 3.96534163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07420609899998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:18.14, Y:-24.78, Z:39.68 [[ 9.87851884e-01 1.17362862e-01 -1.01855849e-01 1.81385216e+01] [-1.16866902e-01 9.93088384e-01 1.08438153e-02 -2.47819185e+01] [ 1.02424522e-01 1.19149419e-03 9.94740065e-01 3.96845132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10420609899998 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:18.15, Y:-24.80, Z:39.72 [[ 9.90438831e-01 8.19609220e-02 -1.10965445e-01 1.81476831e+01] [-8.22309134e-02 9.96610987e-01 2.14900768e-03 -2.48012251e+01] [ 1.10765516e-01 6.99632922e-03 9.93821942e-01 3.97154771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.13420609899998 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:18.16, Y:-24.79, Z:39.74 [[ 9.86971358e-01 1.16003404e-01 -1.11493265e-01 1.81580012e+01] [-1.15533690e-01 9.93246074e-01 1.06865832e-02 -2.47854322e+01] [ 1.11979927e-01 2.33387676e-03 9.93707728e-01 3.97439798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16420609899998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:18.16, Y:-24.77, Z:39.78 [[ 9.82694213e-01 1.53034661e-01 -1.04367025e-01 1.81625548e+01] [-1.51815802e-01 9.88215013e-01 1.95716964e-02 -2.47673394e+01] [ 1.06132209e-01 -3.38842916e-03 9.94346254e-01 3.97768340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.19420609899998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:18.17, Y:-24.78, Z:39.81 [[ 9.85566321e-01 1.31746693e-01 -1.06310096e-01 1.81665843e+01] [-1.31103257e-01 9.91282830e-01 1.30493722e-02 -2.47784817e+01] [ 1.07102584e-01 1.07657806e-03 9.94247392e-01 3.98083743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22420609899999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:18.17, Y:-24.78, Z:39.84 [[ 9.85102092e-01 1.34618332e-01 -1.07012961e-01 1.81737997e+01] [-1.34009863e-01 9.90896163e-01 1.28899491e-02 -2.47776964e+01] [ 1.07773956e-01 1.64287644e-03 9.94174067e-01 3.98400265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25420609899999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:18.18, Y:-24.77, Z:39.87 [[ 9.81119853e-01 1.57266016e-01 -1.12566575e-01 1.81817161e+01] [-1.56155589e-01 9.87556000e-01 1.86702748e-02 -2.47672392e+01] [ 1.14101996e-01 -7.39877474e-04 9.93468765e-01 3.98725160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28420609899999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:18.19, Y:-24.77, Z:39.91 [[ 9.81798441e-01 1.52793151e-01 -1.12809902e-01 1.81866388e+01] [-1.51831947e-01 9.88258138e-01 1.71146892e-02 -2.47701752e+01] [ 1.14100311e-01 3.24971758e-04 9.93469181e-01 3.99056014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31420609899999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:18.19, Y:-24.77, Z:39.94 [[ 9.83148241e-01 1.51276346e-01 -1.02640161e-01 1.81884341e+01] [-1.50375295e-01 9.88491193e-01 1.65055104e-02 -2.47701638e+01] [ 1.03955789e-01 -7.92818932e-04 9.94581603e-01 3.99371602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34420609899999 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:18.19, Y:-24.78, Z:39.97 [[ 9.85929843e-01 1.27528718e-01 -1.08068365e-01 1.81940281e+01] [-1.27300316e-01 9.91823039e-01 9.03816913e-03 -2.47838059e+01] [ 1.08337320e-01 4.84613630e-03 9.94102379e-01 3.99684104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37420609899999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:18.20, Y:-24.77, Z:40.00 [[ 9.82676098e-01 1.47045079e-01 -1.12807053e-01 1.82020983e+01] [-1.46332967e-01 9.89127460e-01 1.46127057e-02 -2.47739052e+01] [ 1.13729280e-01 2.14783413e-03 9.93509455e-01 3.99993083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40420609899999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:18.21, Y:-24.76, Z:40.03 [[ 9.79320957e-01 1.69956814e-01 -1.09750374e-01 1.82087117e+01] [-1.68889105e-01 9.85451507e-01 1.90209699e-02 -2.47624557e+01] [ 1.11386415e-01 -9.19919953e-05 9.93777167e-01 4.00290495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43420609899998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:18.21, Y:-24.77, Z:40.06 [[ 9.80574253e-01 1.60650454e-01 -1.12541395e-01 1.82141850e+01] [-1.59702484e-01 9.87010985e-01 1.74479665e-02 -2.47682325e+01] [ 1.13882617e-01 8.64113679e-04 9.93493836e-01 4.00620419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46420609899998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:18.22, Y:-24.76, Z:40.09 [[ 9.78311634e-01 1.78087015e-01 -1.05789234e-01 1.82176463e+01] [-1.77178292e-01 9.84014094e-01 1.80032362e-02 -2.47594190e+01] [ 1.07304240e-01 1.13078043e-03 9.94225589e-01 4.00946856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.49420609899998 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:18.22, Y:-24.77, Z:40.13 [[ 9.81923979e-01 1.53017383e-01 -1.11404578e-01 1.82236475e+01] [-1.52663141e-01 9.88208382e-01 1.17541035e-02 -2.47725148e+01] [ 1.11889520e-01 5.46573680e-03 9.93705621e-01 4.01261342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52420609899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:18.23, Y:-24.76, Z:40.16 [[ 9.76678510e-01 1.84154503e-01 -1.10391157e-01 1.82323339e+01] [-1.83283114e-01 9.82893932e-01 1.80781246e-02 -2.47576549e+01] [ 1.11831966e-01 2.57631908e-03 9.93723792e-01 4.01577104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.55420609899998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:18.24, Y:-24.75, Z:40.19 [[ 9.71442608e-01 2.07401718e-01 -1.15255311e-01 1.82404167e+01] [-2.06098984e-01 9.78255150e-01 2.32394034e-02 -2.47469576e+01] [ 1.17568993e-01 1.17825576e-03 9.93064018e-01 4.01896402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58420609899999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:18.24, Y:-24.75, Z:40.22 [[ 9.72693699e-01 2.01570048e-01 -1.15049917e-01 1.82438649e+01] [-2.00374264e-01 9.79472684e-01 2.19867317e-02 -2.47492918e+01] [ 1.17120118e-01 1.66668717e-03 9.93116358e-01 4.02228707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61420609899999 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:18.25, Y:-24.75, Z:40.26 [[ 9.72031372e-01 2.05890696e-01 -1.12978018e-01 1.82483329e+01] [-2.04702053e-01 9.78573692e-01 2.21494495e-02 -2.47470800e+01] [ 1.15117682e-01 1.59687247e-03 9.93350577e-01 4.02558892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.25, Y:-24.75, Z:40.29 [[ 9.71894723e-01 2.07478576e-01 -1.11235281e-01 1.82548013e+01] [-2.06228690e-01 9.78239214e-01 2.27544986e-02 -2.47470939e+01] [ 1.13535785e-01 8.24929174e-04 9.93533565e-01 4.02886144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67420609899999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:18.26, Y:-24.75, Z:40.32 [[ 9.71385043e-01 2.10142860e-01 -1.10684583e-01 1.82592999e+01] [-2.08942144e-01 9.77669826e-01 2.24697953e-02 -2.47469671e+01] [ 1.12934844e-01 1.29985114e-03 9.93601546e-01 4.03211137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70420609899999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:18.27, Y:-24.74, Z:40.35 [[ 9.70263131e-01 2.14815884e-01 -1.11550856e-01 1.82650202e+01] [-2.13536612e-01 9.76653963e-01 2.34339987e-02 -2.47441657e+01] [ 1.13980580e-01 1.08304680e-03 9.93482388e-01 4.03537472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.73420609899999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:18.27, Y:-24.74, Z:40.39 [[ 9.69552962e-01 2.18366473e-01 -1.10829320e-01 1.82700219e+01] [-2.17109083e-01 9.75865921e-01 2.34382414e-02 -2.47426678e+01] [ 1.13272683e-01 1.33743576e-03 9.93563038e-01 4.03868017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76420609899999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:18.28, Y:-24.74, Z:40.42 [[ 9.67106082e-01 2.29414413e-01 -1.09885641e-01 1.82762405e+01] [-2.28135886e-01 9.73327481e-01 2.42411132e-02 -2.47382159e+01] [ 1.12515975e-01 1.62513012e-03 9.93648587e-01 4.04190385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.794206099 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:18.28, Y:-24.74, Z:40.45 [[ 9.66619176e-01 2.31816265e-01 -1.09126480e-01 1.82833512e+01] [-2.30506267e-01 9.72758679e-01 2.46457662e-02 -2.47396264e+01] [ 1.11867020e-01 1.33126738e-03 9.93722294e-01 4.04485502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82420609899998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:18.28, Y:-24.74, Z:40.48 [[ 9.69279870e-01 2.20196300e-01 -1.09590705e-01 1.82837321e+01] [-2.19388584e-01 9.75442158e-01 1.95255262e-02 -2.47449539e+01] [ 1.11198843e-01 5.11725006e-03 9.93785002e-01 4.04818763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85420609899998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:18.29, Y:-24.74, Z:40.51 [[ 9.67634530e-01 2.27312995e-01 -1.09600263e-01 1.82922270e+01] [-2.26288131e-01 9.73814939e-01 2.18665669e-02 -2.47433485e+01] [ 1.11700928e-01 3.64239352e-03 9.93735194e-01 4.05119205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88420609899998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:18.30, Y:-24.73, Z:40.54 [[ 9.62750506e-01 2.46919863e-01 -1.10190941e-01 1.82975010e+01] [-2.45608943e-01 9.69032720e-01 2.55310675e-02 -2.47333661e+01] [ 1.13082755e-01 2.48383237e-03 9.93582468e-01 4.05449749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.91420609899998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:18.30, Y:-24.73, Z:40.58 [[ 9.61615060e-01 2.51288211e-01 -1.10230269e-01 1.83030077e+01] [-2.49944675e-01 9.67909122e-01 2.60689603e-02 -2.47319381e+01] [ 1.13243705e-01 2.48316398e-03 9.93564138e-01 4.05774853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94420609899998 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:18.31, Y:-24.73, Z:40.61 [[ 9.60982743e-01 2.54025020e-01 -1.09468975e-01 1.83083235e+01] [-2.52614188e-01 9.67195788e-01 2.68026024e-02 -2.47316642e+01] [ 1.12686463e-01 1.89657795e-03 9.93628786e-01 4.06103614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.97420609899999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:18.31, Y:-24.74, Z:40.64 [[ 9.65400025e-01 2.36679884e-01 -1.09477965e-01 1.83131117e+01] [-2.35709152e-01 9.71576559e-01 2.19131478e-02 -2.47426716e+01] [ 1.11552626e-01 4.65000486e-03 9.93747649e-01 4.06411855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00420609899999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:18.32, Y:-24.74, Z:40.67 [[ 9.63078248e-01 2.45436300e-01 -1.10640461e-01 1.83198987e+01] [-2.44325451e-01 9.69403595e-01 2.37011375e-02 -2.47390366e+01] [ 1.13072380e-01 4.20623058e-03 9.93577850e-01 4.06724443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03420609899999 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:18.33, Y:-24.73, Z:40.70 [[ 9.56612053e-01 2.71043574e-01 -1.06905386e-01 1.83261995e+01] [-2.69531462e-01 9.62566016e-01 2.86261316e-02 -2.47255639e+01] [ 1.10662421e-01 1.43026254e-03 9.93857023e-01 4.07046847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:18.33, Y:-24.73, Z:40.74 [[ 9.57122293e-01 2.67329638e-01 -1.11587553e-01 1.83315623e+01] [-2.65986337e-01 9.63597627e-01 2.70348419e-02 -2.47298252e+01] [ 1.14752716e-01 3.80511462e-03 9.93386800e-01 4.07376968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.09420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:18.34, Y:-24.73, Z:40.77 [[ 9.54283308e-01 2.77543025e-01 -1.10965026e-01 1.83378831e+01] [-2.75991687e-01 9.60709811e-01 2.94150973e-02 -2.47257016e+01] [ 1.14769145e-01 2.55508846e-03 9.93388904e-01 4.07708274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12420609899999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:18.34, Y:-24.73, Z:40.80 [[ 9.54922407e-01 2.75362225e-01 -1.10900143e-01 1.83427711e+01] [-2.73769604e-01 9.61338353e-01 2.96441328e-02 -2.47270533e+01] [ 1.14775435e-01 2.05324143e-03 9.93389341e-01 4.08033036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15420609899999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:18.35, Y:-24.73, Z:40.84 [[ 9.54323228e-01 2.77457036e-01 -1.10836678e-01 1.83478541e+01] [-2.75851186e-01 9.60735838e-01 2.98793088e-02 -2.47271087e+01] [ 1.14774993e-01 2.05991065e-03 9.93389379e-01 4.08364521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18420609899998 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:18.35, Y:-24.73, Z:40.87 [[ 9.53857974e-01 2.79308328e-01 -1.10189938e-01 1.83531158e+01] [-2.77750831e-01 9.60198431e-01 2.95541794e-02 -2.47264047e+01] [ 1.14058934e-01 2.41485722e-03 9.93471050e-01 4.08693605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.36, Y:-24.74, Z:40.90 [[ 9.60517677e-01 2.54426465e-01 -1.12574269e-01 1.83572083e+01] [-2.53498428e-01 9.67068843e-01 2.27244357e-02 -2.47405803e+01] [ 1.14648766e-01 6.71017792e-03 9.93383428e-01 4.08996575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24420609899998 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:18.37, Y:-24.73, Z:40.93 [[ 9.53662470e-01 2.78998696e-01 -1.12639344e-01 1.83668396e+01] [-2.77473345e-01 9.60285834e-01 2.93199485e-02 -2.47288429e+01] [ 1.16346194e-01 3.29308118e-03 9.93203262e-01 4.09309170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.27420609899998 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:18.37, Y:-24.73, Z:40.96 [[ 9.51842941e-01 2.84644416e-01 -1.13897203e-01 1.83726723e+01] [-2.83113510e-01 9.58625095e-01 2.97433528e-02 -2.47264753e+01] [ 1.17650996e-01 3.93483645e-03 9.93047209e-01 4.09621227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30420609899998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:18.38, Y:-24.72, Z:40.99 [[ 9.49475755e-01 2.92086152e-01 -1.14810587e-01 1.83788954e+01] [-2.90429907e-01 9.56385047e-01 3.12747504e-02 -2.47236485e+01] [ 1.18938050e-01 3.64981096e-03 9.92894969e-01 4.09928866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.33420609899999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:18.39, Y:-24.71, Z:41.03 [[ 9.37191343e-01 3.28856907e-01 -1.16299271e-01 1.83897698e+01] [-3.26066303e-01 9.44377206e-01 4.28072362e-02 -2.47052797e+01] [ 1.23907836e-01 -2.19729780e-03 9.92291298e-01 4.10252002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:18.39, Y:-24.72, Z:41.06 [[ 9.43921824e-01 3.08171523e-01 -1.18498532e-01 1.83902380e+01] [-3.06125519e-01 9.51326941e-01 3.55558315e-02 -2.47167586e+01] [ 1.23688141e-01 2.71349942e-03 9.92317429e-01 4.10581630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39420609899999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:18.39, Y:-24.73, Z:41.09 [[ 9.51377596e-01 2.84625102e-01 -1.17767658e-01 1.83918860e+01] [-2.83183780e-01 9.58622466e-01 2.91532808e-02 -2.47312030e+01] [ 1.21192479e-01 5.61411241e-03 9.92613150e-01 4.10889459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42420609899999 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:18.40, Y:-24.71, Z:41.12 [[ 9.37206062e-01 3.27273962e-01 -1.20567622e-01 1.84023063e+01] [-3.24631055e-01 9.44929467e-01 4.15088050e-02 -2.47105678e+01] [ 1.27512650e-01 2.37690672e-04 9.91836916e-01 4.11212947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.45420609899999 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:18.40, Y:-24.72, Z:41.15 [[ 9.44959763e-01 3.02656195e-01 -1.24299130e-01 1.84006552e+01] [-3.00153621e-01 9.53099609e-01 3.88450620e-02 -2.47229522e+01] [ 1.30226151e-01 6.01813283e-04 9.91484134e-01 4.11543088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48420609899999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:18.41, Y:-24.72, Z:41.19 [[ 9.43026083e-01 3.08037121e-01 -1.25757459e-01 1.84071428e+01] [-3.05421050e-01 9.51374132e-01 4.00654734e-02 -2.47218226e+01] [ 1.31984046e-01 6.26188635e-04 9.91251643e-01 4.11869952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.41, Y:-24.72, Z:41.22 [[ 9.41845504e-01 3.11860377e-01 -1.25180473e-01 1.84115714e+01] [-3.09204625e-01 9.50127833e-01 4.06152665e-02 -2.47211385e+01] [ 1.31603744e-01 4.53075081e-04 9.91302300e-01 4.12201555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.544206099 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:18.42, Y:-24.72, Z:41.25 [[ 9.42679996e-01 3.10784286e-01 -1.21521820e-01 1.84154280e+01] [-3.08304507e-01 9.50480326e-01 3.91852106e-02 -2.47219698e+01] [ 1.27682247e-01 5.26610687e-04 9.91814986e-01 4.12515965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57420609899998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:18.42, Y:-24.72, Z:41.28 [[ 9.44160801e-01 3.06095849e-01 -1.21925032e-01 1.84192842e+01] [-3.03672276e-01 9.52000424e-01 3.84491968e-02 -2.47243892e+01] [ 1.27841822e-01 7.23027709e-04 9.91794306e-01 4.12832943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60420609899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:18.42, Y:-24.73, Z:41.31 [[ 9.46833847e-01 2.95620001e-01 -1.26942829e-01 1.84234963e+01] [-2.93460635e-01 9.55299789e-01 3.58213423e-02 -2.47315001e+01] [ 1.31857963e-01 3.33586377e-03 9.91263007e-01 4.13139201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.63420609899998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:18.44, Y:-24.71, Z:41.35 [[ 9.33218983e-01 3.38038976e-01 -1.21786621e-01 1.84350580e+01] [-3.34920856e-01 9.41129984e-01 4.58516337e-02 -2.47105812e+01] [ 1.30116680e-01 -2.00073549e-03 9.91496670e-01 4.13458722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66420609899998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:18.44, Y:-24.72, Z:41.38 [[ 9.38128724e-01 3.23672281e-01 -1.23088389e-01 1.84359128e+01] [-3.21160788e-01 9.46167648e-01 4.02806535e-02 -2.47190259e+01] [ 1.29499983e-01 1.74272596e-03 9.91577893e-01 4.13784637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.69420609899998 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:18.44, Y:-24.72, Z:41.41 [[ 9.35252750e-01 3.30799232e-01 -1.25992703e-01 1.84421181e+01] [-3.27942244e-01 9.43700865e-01 4.33885086e-02 -2.47174504e+01] [ 1.33252308e-01 7.39107857e-04 9.91081872e-01 4.14109674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72420609899999 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:18.45, Y:-24.71, Z:41.44 [[ 9.31238451e-01 3.41581943e-01 -1.26951659e-01 1.84488179e+01] [-3.38488964e-01 9.39851961e-01 4.58640707e-02 -2.47133793e+01] [ 1.34982104e-01 2.61349387e-04 9.90848002e-01 4.14432854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75420609899999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:18.45, Y:-24.73, Z:41.47 [[ 9.40364468e-01 3.15116530e-01 -1.28125876e-01 1.84492945e+01] [-3.12846848e-01 9.49043029e-01 3.80023662e-02 -2.47285880e+01] [ 1.33572143e-01 4.34770159e-03 9.91029556e-01 4.14745066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78420609899999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:18.46, Y:-24.71, Z:41.51 [[ 9.27761648e-01 3.51452855e-01 -1.25456026e-01 1.84597827e+01] [-3.48314060e-01 9.36205556e-01 4.68665384e-02 -2.47104566e+01] [ 1.33924007e-01 2.17120633e-04 9.90991581e-01 4.15051559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81420609899999 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:18.46, Y:-24.71, Z:41.54 [[ 9.25592899e-01 3.55452212e-01 -1.30121138e-01 1.84639550e+01] [-3.51856891e-01 9.34694023e-01 5.04362158e-02 -2.47099710e+01] [ 1.39551115e-01 -8.99383964e-04 9.90214460e-01 4.15372807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84420609899999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:18.47, Y:-24.71, Z:41.57 [[ 9.27386147e-01 3.50948325e-01 -1.29577034e-01 1.84672545e+01] [-3.47693445e-01 9.36394466e-01 4.76935212e-02 -2.47125870e+01] [ 1.38073179e-01 8.22774408e-04 9.90421688e-01 4.15687872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87420609899999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:18.47, Y:-24.72, Z:41.60 [[ 9.27965453e-01 3.48582921e-01 -1.31795542e-01 1.84706328e+01] [-3.45410260e-01 9.37275932e-01 4.69636006e-02 -2.47158982e+01] [ 1.39899499e-01 1.94293362e-03 9.90163802e-01 4.16012614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90420609899999 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:18.48, Y:-24.71, Z:41.63 [[ 9.24419369e-01 3.57854407e-01 -1.31867561e-01 1.84767181e+01] [-3.54329071e-01 9.33777308e-01 5.01083672e-02 -2.47120621e+01] [ 1.41066436e-01 4.03365075e-04 9.90000049e-01 4.16342049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93420609899998 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:18.48, Y:-24.71, Z:41.67 [[ 9.22898335e-01 3.61760310e-01 -1.31864100e-01 1.84821681e+01] [-3.58129858e-01 9.32271139e-01 5.11226792e-02 -2.47110956e+01] [ 1.41427251e-01 4.34360716e-05 9.89948651e-01 4.16672696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96420609899998 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:18.49, Y:-24.71, Z:41.70 [[ 9.21972525e-01 3.63538358e-01 -1.33441092e-01 1.84858846e+01] [-3.59785003e-01 9.31579230e-01 5.21046147e-02 -2.47100966e+01] [ 1.43252976e-01 -2.89193605e-05 9.89686104e-01 4.16998984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.99420609899998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:18.49, Y:-24.72, Z:41.73 [[ 9.27017496e-01 3.51114872e-01 -1.31745622e-01 1.84867591e+01] [-3.47829923e-01 9.36331364e-01 4.79366401e-02 -2.47177817e+01] [ 1.40188825e-01 1.38696560e-03 9.90123815e-01 4.17302381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02420609899998 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:18.49, Y:-24.72, Z:41.76 [[ 9.26935400e-01 3.50677198e-01 -1.33477588e-01 1.84917990e+01] [-3.47418932e-01 9.36493996e-01 4.77397263e-02 -2.47186384e+01] [ 1.41742194e-01 2.12099890e-03 9.89901334e-01 4.17629621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.05420609899998 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:18.50, Y:-24.72, Z:41.79 [[ 9.27188786e-01 3.48035584e-01 -1.38535874e-01 1.84980919e+01] [-3.44495541e-01 9.37479621e-01 4.95457607e-02 -2.47212445e+01] [ 1.47118246e-01 1.78671704e-03 9.89117298e-01 4.17937691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08420609899999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:18.50, Y:-24.71, Z:41.83 [[ 9.20278288e-01 3.66152797e-01 -1.37913020e-01 1.85048391e+01] [-3.62331603e-01 9.30553691e-01 5.27791353e-02 -2.47131505e+01] [ 1.47660698e-01 1.39875326e-03 9.89037088e-01 4.18262484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11420609899999 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:18.51, Y:-24.71, Z:41.86 [[ 9.13508233e-01 3.83214099e-01 -1.36563771e-01 1.85133478e+01] [-3.78586754e-01 9.23655920e-01 5.94290480e-02 -2.47066973e+01] [ 1.48911984e-01 -2.58768998e-03 9.88847068e-01 4.18553687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14420609899999 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:18.52, Y:-24.70, Z:41.89 [[ 9.07277944e-01 3.97558952e-01 -1.37089799e-01 1.85215023e+01] [-3.92610871e-01 9.17571822e-01 6.25991679e-02 -2.47019825e+01] [ 1.50676596e-01 -2.97189903e-03 9.88578642e-01 4.18890014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17420609899999 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:18.52, Y:-24.71, Z:41.92 [[ 9.16144624e-01 3.75349140e-01 -1.40684225e-01 1.85206230e+01] [-3.71115642e-01 9.26883232e-01 5.62196909e-02 -2.47146965e+01] [ 1.51499862e-01 7.04748967e-04 9.88457027e-01 4.19208280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20420609899999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:18.53, Y:-24.71, Z:41.95 [[ 9.06517811e-01 3.98993552e-01 -1.37947832e-01 1.85315859e+01] [-3.95214392e-01 9.16941816e-01 5.49844594e-02 -2.47112932e+01] [ 1.48428580e-01 4.67457664e-03 9.88912082e-01 4.19520911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.23420609899999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:18.53, Y:-24.73, Z:41.98 [[ 9.14960226e-01 3.79309243e-01 -1.37739907e-01 1.85333718e+01] [-3.76024406e-01 9.25251150e-01 5.01593053e-02 -2.47250623e+01] [ 1.46469895e-01 5.89979730e-03 9.89197534e-01 4.19825326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26420609899999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:18.55, Y:-24.70, Z:42.02 [[ 8.96831747e-01 4.20575563e-01 -1.37145958e-01 1.85465604e+01] [-4.16058799e-01 9.07255516e-01 6.15020677e-02 -2.47042585e+01] [ 1.50292694e-01 1.90377575e-03 9.88639713e-01 4.20152454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.294206099 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:18.54, Y:-24.72, Z:42.05 [[ 9.09787350e-01 3.90898612e-01 -1.39589588e-01 1.85444286e+01] [-3.87229822e-01 9.20418984e-01 5.36838729e-02 -2.47210384e+01] [ 1.49465858e-01 5.21234274e-03 9.88753149e-01 4.20453696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.56, Y:-24.70, Z:42.08 [[ 8.93285263e-01 4.28353872e-01 -1.36214532e-01 1.85574027e+01] [-4.23522711e-01 9.03610986e-01 6.41537128e-02 -2.47035543e+01] [ 1.50565439e-01 3.82381523e-04 9.88599971e-01 4.20762324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35420609899998 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:18.56, Y:-24.72, Z:42.11 [[ 9.06109602e-01 3.95582515e-01 -1.49932864e-01 1.85573164e+01] [-3.91104848e-01 9.18418449e-01 5.95361279e-02 -2.47222422e+01] [ 1.61252559e-01 4.69321267e-03 9.86902014e-01 4.21074200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38420609899998 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:18.57, Y:-24.71, Z:42.14 [[ 8.97972576e-01 4.13784671e-01 -1.49758134e-01 1.85659807e+01] [-4.08711118e-01 9.10369396e-01 6.46744517e-02 -2.47147357e+01] [ 1.63096519e-01 3.13193039e-03 9.86605147e-01 4.21386766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.41420609899998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:18.58, Y:-24.70, Z:42.17 [[ 8.81520837e-01 4.49153224e-01 -1.45541729e-01 1.85774342e+01] [-4.43249678e-01 8.93454590e-01 7.25852474e-02 -2.46967468e+01] [ 1.62636824e-01 5.25916675e-04 9.86685860e-01 4.21681541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44420609899998 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:18.58, Y:-24.69, Z:42.20 [[ 8.72634404e-01 4.68316540e-01 -1.38523698e-01 1.85827615e+01] [-4.62506934e-01 8.83560755e-01 7.35372550e-02 -2.46861739e+01] [ 1.56832816e-01 -1.02967904e-04 9.87625160e-01 4.21988765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.47420609899999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:18.57, Y:-24.72, Z:42.23 [[ 9.00686643e-01 4.08643279e-01 -1.47560978e-01 1.85714538e+01] [-4.04703908e-01 9.12657319e-01 5.71958434e-02 -2.47177965e+01] [ 1.58045304e-01 8.20297250e-03 9.87397789e-01 4.22306742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50420609899999 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] Translation: X:18.58, Y:-24.72, Z:42.26 [[ 8.98454882e-01 4.13020474e-01 -1.48972858e-01 1.85777859e+01] [-4.09060977e-01 9.10676872e-01 5.77646309e-02 -2.47158454e+01] [ 1.59524111e-01 9.04006796e-03 9.87152640e-01 4.22620383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53420609899999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:18.57, Y:-24.74, Z:42.30 [[ 9.14188399e-01 3.71677620e-01 -1.61602347e-01 1.85730807e+01] [-3.68884225e-01 9.28230069e-01 4.80974705e-02 -2.47376720e+01] [ 1.67880911e-01 1.56424071e-02 9.85683172e-01 4.22960357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56420609899999 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:18.62, Y:-24.67, Z:42.32 [[ 8.44940283e-01 5.16487256e-01 -1.38985006e-01 1.86156758e+01] [-5.09272429e-01 8.56292712e-01 8.60487308e-02 -2.46650428e+01] [ 1.63454920e-01 -1.92480766e-03 9.86548926e-01 4.23249970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.59420609899999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:18.59, Y:-24.72, Z:42.36 [[ 9.00241794e-01 4.05769484e-01 -1.57847514e-01 1.85903849e+01] [-4.01710524e-01 9.13909997e-01 5.82852752e-02 -2.47225819e+01] [ 1.67908807e-01 1.09381669e-02 9.85741847e-01 4.23559741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.61, Y:-24.69, Z:42.39 [[ 8.72746107e-01 4.65048829e-01 -1.48471608e-01 1.86086028e+01] [-4.59923517e-01 8.85250590e-01 6.92946711e-02 -2.46917262e+01] [ 1.63659984e-01 7.80892970e-03 9.86485900e-01 4.23880686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65420609899999 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:18.60, Y:-24.72, Z:42.42 [[ 8.96266364e-01 4.12613557e-01 -1.62655025e-01 1.85991392e+01] [-4.09487887e-01 9.10722294e-01 5.38940942e-02 -2.47198072e+01] [ 1.70370992e-01 1.83017988e-02 9.85210013e-01 4.24216448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68420609899998 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:18.64, Y:-24.66, Z:42.46 [[ 8.28298335e-01 5.41312663e-01 -1.44576862e-01 1.86393319e+01] [-5.34001158e-01 8.40813260e-01 8.87458437e-02 -2.46567314e+01] [ 1.69601392e-01 3.69617698e-03 9.85505812e-01 4.24552176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71420609899998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:18.65, Y:-24.65, Z:42.48 [[ 8.17938036e-01 5.58081750e-01 -1.39721615e-01 1.86489564e+01] [-5.50160881e-01 8.29785939e-01 9.36925816e-02 -2.46500713e+01] [ 1.68227152e-01 2.34640745e-04 9.85748229e-01 4.24840387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74420609899998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:18.63, Y:-24.69, Z:42.52 [[ 8.59524667e-01 4.88456414e-01 -1.50424993e-01 1.86290368e+01] [-4.82805030e-01 8.72546644e-01 7.45765181e-02 -2.46861057e+01] [ 1.67680201e-01 8.52558634e-03 9.85804577e-01 4.25157487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.77420609899998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:18.63, Y:-24.69, Z:42.55 [[ 8.61716798e-01 4.84478191e-01 -1.50748277e-01 1.86293765e+01] [-4.79414241e-01 8.74730528e-01 7.07706850e-02 -2.46883557e+01] [ 1.66150974e-01 1.12865829e-02 9.86035733e-01 4.25481609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80420609899998 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:18.63, Y:-24.69, Z:42.58 [[ 8.66441646e-01 4.73783451e-01 -1.57505920e-01 1.86317862e+01] [-4.69249823e-01 8.80502220e-01 6.72342429e-02 -2.46945521e+01] [ 1.70538784e-01 1.56550770e-02 9.85226594e-01 4.25816857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.83420609899999 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:18.67, Y:-24.65, Z:42.62 [[ 8.07179326e-01 5.73000448e-01 -1.41887360e-01 1.86671675e+01] [-5.65253442e-01 8.19543646e-01 9.40040344e-02 -2.46465406e+01] [ 1.70147238e-01 4.32420517e-03 9.85409163e-01 4.26150804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86420609899999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:18.67, Y:-24.64, Z:42.65 [[ 8.00105922e-01 5.85048041e-01 -1.32473782e-01 1.86719336e+01] [-5.77247849e-01 8.10998586e-01 9.52166669e-02 -2.46409251e+01] [ 1.63142374e-01 2.86786669e-04 9.86602495e-01 4.26459755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89420609899999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:18.65, Y:-24.67, Z:42.68 [[ 8.39269387e-01 5.24243950e-01 -1.44205326e-01 1.86534495e+01] [-5.18423711e-01 8.51521102e-01 7.84134419e-02 -2.46730334e+01] [ 1.63901651e-01 8.94945914e-03 9.86436088e-01 4.26787649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92420609899999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:18.66, Y:-24.67, Z:42.71 [[ 8.32548998e-01 5.35504859e-01 -1.41762874e-01 1.86591784e+01] [-5.29580326e-01 8.44488789e-01 7.98959501e-02 -2.46676812e+01] [ 1.62501827e-01 8.55753591e-03 9.86671133e-01 4.27110635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.95420609899999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:18.67, Y:-24.66, Z:42.74 [[ 8.22800150e-01 5.50964320e-01 -1.39421056e-01 1.86679043e+01] [-5.44860453e-01 8.34487278e-01 8.22074776e-02 -2.46597266e+01] [ 1.61638485e-01 8.32469490e-03 9.86814927e-01 4.27439254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98420609899999 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:18.68, Y:-24.65, Z:42.77 [[ 8.09776502e-01 5.70841634e-01 -1.35653402e-01 1.86780306e+01] [-5.64159289e-01 8.21039354e-01 8.72850274e-02 -2.46519388e+01] [ 1.61202709e-01 5.84876284e-03 9.86903986e-01 4.27736265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01420609899999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:18.68, Y:-24.66, Z:42.81 [[ 8.19341755e-01 5.53708441e-01 -1.48613765e-01 1.86768332e+01] [-5.47502945e-01 8.32611844e-01 8.36543083e-02 -2.46628216e+01] [ 1.70057678e-01 1.28250065e-02 9.85350651e-01 4.28084511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04420609899998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:18.70, Y:-24.64, Z:42.84 [[ 7.84869034e-01 6.04878925e-01 -1.34543987e-01 1.86986740e+01] [-5.97209732e-01 7.96302418e-01 9.61404933e-02 -2.46384538e+01] [ 1.65291061e-01 4.89328244e-03 9.86232691e-01 4.28395735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07420609899998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:18.70, Y:-24.64, Z:42.87 [[ 7.81273731e-01 6.09442990e-01 -1.34872531e-01 1.87037365e+01] [-6.01580468e-01 7.92815315e-01 9.76975787e-02 -2.46383155e+01] [ 1.66470112e-01 4.80812823e-03 9.86034778e-01 4.28722522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10420609899998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:18.71, Y:-24.64, Z:42.90 [[ 7.75370366e-01 6.17223439e-01 -1.33551566e-01 1.87103965e+01] [-6.09288610e-01 7.86773337e-01 9.87679382e-02 -2.46368139e+01] [ 1.66036698e-01 4.78971580e-03 9.86107942e-01 4.29034386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.13420609899998 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:18.70, Y:-24.65, Z:42.94 [[ 7.96854492e-01 5.87625929e-01 -1.40423237e-01 1.87020676e+01] [-5.80733492e-01 8.09075416e-01 9.02528789e-02 -2.46531609e+01] [ 1.66647921e-01 9.63006503e-03 9.85969438e-01 4.29367904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16420609899998 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:18.74, Y:-24.62, Z:42.97 [[ 7.32764120e-01 6.68690213e-01 -1.26135416e-01 1.87398939e+01] [-6.58825250e-01 7.43540736e-01 1.14439782e-01 -2.46165948e+01] [ 1.70311582e-01 -7.56169032e-04 9.85389970e-01 4.29666595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.19420609899998 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:18.73, Y:-24.63, Z:43.00 [[ 7.56289274e-01 6.40543084e-01 -1.33158144e-01 1.87287678e+01] [-6.32019543e-01 7.67904005e-01 1.04282006e-01 -2.46308820e+01] [ 1.69049790e-01 5.29118702e-03 9.85593310e-01 4.29997228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22420609899999 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:18.75, Y:-24.61, Z:43.03 [[ 7.23808917e-01 6.78513826e-01 -1.25377984e-01 1.87493071e+01] [-6.68775175e-01 7.34587033e-01 1.14549802e-01 -2.46130321e+01] [ 1.69824666e-01 9.37515117e-04 9.85473847e-01 4.30317114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25420609899999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:18.76, Y:-24.62, Z:43.06 [[ 7.18649889e-01 6.83684592e-01 -1.26955566e-01 1.87559820e+01] [-6.73256264e-01 7.29777622e-01 1.18956399e-01 -2.46155489e+01] [ 1.73977988e-01 -1.43727534e-05 9.84749541e-01 4.30627306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28420609899999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:18.78, Y:-24.60, Z:43.09 [[ 6.76175796e-01 7.27182643e-01 -1.18286502e-01 1.87796205e+01] [-7.14785998e-01 6.86418292e-01 1.33831632e-01 -2.45961620e+01] [ 1.78514058e-01 -5.94417521e-03 9.83919406e-01 4.30933224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31420609899999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:18.74, Y:-24.64, Z:43.13 [[ 7.47548654e-01 6.49645338e-01 -1.38318276e-01 1.87434496e+01] [-6.39624135e-01 7.60229541e-01 1.13718999e-01 -2.46372185e+01] [ 1.79030657e-01 3.46122338e-03 9.83837407e-01 4.31265243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34420609899999 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:18.75, Y:-24.64, Z:43.16 [[ 7.45987575e-01 6.51546515e-01 -1.37803034e-01 1.87458147e+01] [-6.41501354e-01 7.58601312e-01 1.14017816e-01 -2.46376719e+01] [ 1.78825473e-01 3.34495900e-03 9.83875125e-01 4.31593281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37420609899999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:18.74, Y:-24.64, Z:43.19 [[ 7.49939997e-01 6.47551754e-01 -1.35154453e-01 1.87443473e+01] [-6.38041971e-01 7.62014427e-01 1.10618518e-01 -2.46405831e+01] [ 1.74620858e-01 3.27696268e-03 9.84630295e-01 4.31914122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:18.75, Y:-24.64, Z:43.22 [[ 7.46777463e-01 6.50608005e-01 -1.37958853e-01 1.87496416e+01] [-6.40480307e-01 7.59408053e-01 1.14386997e-01 -2.46422531e+01] [ 1.79188160e-01 2.93829747e-03 9.83810434e-01 4.32240328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43420609899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:18.75, Y:-24.64, Z:43.26 [[ 7.41963724e-01 6.56364648e-01 -1.36657535e-01 1.87544712e+01] [-6.46031019e-01 7.54440611e-01 1.16031402e-01 -2.46404318e+01] [ 1.79258904e-01 2.19391542e-03 9.83799488e-01 4.32569631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46420609899998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:18.76, Y:-24.64, Z:43.29 [[ 7.37098834e-01 6.62698605e-01 -1.32347528e-01 1.87580614e+01] [-6.52648296e-01 7.48884463e-01 1.14988101e-01 -2.46383045e+01] [ 1.75315461e-01 1.61879321e-03 9.84510979e-01 4.32886713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.49420609899998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:18.76, Y:-24.65, Z:43.32 [[ 7.48927692e-01 6.47582178e-01 -1.40515604e-01 1.87552933e+01] [-6.37343925e-01 7.61987046e-01 1.14753922e-01 -2.46490085e+01] [ 1.81383665e-01 3.61437692e-03 9.83405767e-01 4.33218196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52420609899998 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:18.75, Y:-24.66, Z:43.35 [[ 7.70253367e-01 6.21388299e-01 -1.43479380e-01 1.87463164e+01] [-6.12974236e-01 7.83449492e-01 1.02320471e-01 -2.46639040e+01] [ 1.75989590e-01 9.13647634e-03 9.84349627e-01 4.33537462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.55420609899998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:18.79, Y:-24.62, Z:43.39 [[ 6.89104227e-01 7.14290587e-01 -1.22165142e-01 1.87935388e+01] [-7.02801566e-01 6.99846144e-01 1.27614005e-01 -2.46210544e+01] [ 1.76650286e-01 -2.08149760e-03 9.84271479e-01 4.33850297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58420609899999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:18.80, Y:-24.62, Z:43.42 [[ 6.88402699e-01 7.14159009e-01 -1.26801555e-01 1.87951943e+01] [-7.01723503e-01 6.99979459e-01 1.32713539e-01 -2.46218565e+01] [ 1.83537053e-01 -2.38072662e-03 9.83009910e-01 4.34173407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61420609899999 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:18.78, Y:-24.64, Z:43.45 [[ 7.22742796e-01 6.77696822e-01 -1.35535486e-01 1.87787702e+01] [-6.66545570e-01 7.35339120e-01 1.22447460e-01 -2.46415115e+01] [ 1.82646800e-01 1.84255837e-03 9.83176867e-01 4.34506818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64420609899999 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:18.78, Y:-24.64, Z:43.48 [[ 7.20166157e-01 6.80527582e-01 -1.35066340e-01 1.87823131e+01] [-6.69328839e-01 7.32720131e-01 1.22963879e-01 -2.46418302e+01] [ 1.82646138e-01 1.84937229e-03 9.83176977e-01 4.34840730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67420609899999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:18.79, Y:-24.64, Z:43.52 [[ 7.16636063e-01 6.84269835e-01 -1.34935340e-01 1.87869101e+01] [-6.73077795e-01 7.29224699e-01 1.23278626e-01 -2.46415213e+01] [ 1.82754028e-01 2.47607143e-03 9.83155549e-01 4.35169116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70420609899999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:18.79, Y:-24.64, Z:43.55 [[ 7.09715562e-01 6.91582999e-01 -1.34226587e-01 1.87921160e+01] [-6.80224106e-01 7.22291988e-01 1.24857720e-01 -2.46385505e+01] [ 1.83300265e-01 2.69069361e-03 9.83053291e-01 4.35494380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.73420609899999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:18.79, Y:-24.65, Z:43.58 [[ 7.19150812e-01 6.81560584e-01 -1.35267441e-01 1.87908455e+01] [-6.70597040e-01 7.31755036e-01 1.21795638e-01 -2.46469938e+01] [ 1.81993737e-01 3.12051380e-03 9.83294738e-01 4.35799365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76420609899999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:18.80, Y:-24.64, Z:43.61 [[ 7.05582571e-01 6.96317208e-01 -1.31512669e-01 1.87985768e+01] [-6.85407687e-01 7.17725756e-01 1.22825254e-01 -2.46386778e+01] [ 1.79915367e-01 3.47643612e-03 9.83675950e-01 4.36121991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79420609899998 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:18.79, Y:-24.65, Z:43.64 [[ 7.26471628e-01 6.72797076e-01 -1.39939517e-01 1.87915764e+01] [-6.61932573e-01 7.39809694e-01 1.20527532e-01 -2.46543364e+01] [ 1.84619182e-01 5.07069226e-03 9.82797052e-01 4.36427128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82420609899998 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:18.80, Y:-24.64, Z:43.67 [[ 7.06159916e-01 6.95111356e-01 -1.34753015e-01 1.88040168e+01] [-6.84100206e-01 7.18884081e-01 1.23339312e-01 -2.46430752e+01] [ 1.82606354e-01 5.08728729e-03 9.83172945e-01 4.36745500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85420609899998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:18.82, Y:-24.64, Z:43.71 [[ 6.91015859e-01 7.10104795e-01 -1.35086130e-01 1.88151324e+01] [-6.98422355e-01 7.04073568e-01 1.28400256e-01 -2.46394189e+01] [ 1.86288211e-01 5.62055978e-03 9.82479064e-01 4.37077491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88420609899998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:18.83, Y:-24.63, Z:43.74 [[ 6.74073542e-01 7.27219142e-01 -1.29526754e-01 1.88251694e+01] [-7.14967890e-01 6.86398872e-01 1.32956778e-01 -2.46317752e+01] [ 1.85595732e-01 2.98482386e-03 9.82621654e-01 4.37404725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.91420609899998 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:18.82, Y:-24.65, Z:43.77 [[ 6.99667162e-01 7.02189247e-01 -1.31894367e-01 1.88153132e+01] [-6.91045751e-01 7.11979548e-01 1.24663119e-01 -2.46473187e+01] [ 1.81443193e-01 3.92235100e-03 9.83393605e-01 4.37709899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94420609899998 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:18.83, Y:-24.63, Z:43.80 [[ 6.68490923e-01 7.31988247e-01 -1.31579222e-01 1.88321149e+01] [-7.18723821e-01 6.81314803e-01 1.38730702e-01 -2.46324151e+01] [ 1.91196115e-01 1.82890629e-03 9.81550152e-01 4.38032747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.97420609899999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:18.84, Y:-24.63, Z:43.84 [[ 6.60958617e-01 7.38272928e-01 -1.34487140e-01 1.88370736e+01] [-7.24289598e-01 6.74496013e-01 1.43037432e-01 -2.46306400e+01] [ 1.96311703e-01 2.86581383e-03 9.80537354e-01 4.38367602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00420609899999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:18.83, Y:-24.64, Z:43.87 [[ 6.80052160e-01 7.20212516e-01 -1.37196906e-01 1.88312575e+01] [-7.07441177e-01 6.93734287e-01 1.35128531e-01 -2.46437104e+01] [ 1.92499457e-01 5.16429096e-03 9.81283491e-01 4.38677795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03420609899999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:18.84, Y:-24.63, Z:43.90 [[ 6.59417506e-01 7.40200198e-01 -1.31423819e-01 1.88436329e+01] [-7.26782303e-01 6.72379943e-01 1.40330668e-01 -2.46327128e+01] [ 1.92239528e-01 2.98000674e-03 9.81343509e-01 4.39013695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06420609899999 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:18.85, Y:-24.63, Z:43.93 [[ 6.47519540e-01 7.50858086e-01 -1.30117562e-01 1.88524988e+01] [-7.37046816e-01 6.60456495e-01 1.43384829e-01 -2.46297952e+01] [ 1.93598647e-01 3.05825613e-03 9.81076048e-01 4.39315582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.09420609899999 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:18.86, Y:-24.63, Z:43.96 [[ 6.46101445e-01 7.51912063e-01 -1.31076975e-01 1.88555085e+01] [-7.37984782e-01 6.59253406e-01 1.44095135e-01 -2.46311830e+01] [ 1.94759812e-01 3.63273818e-03 9.80844238e-01 4.39633443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12420609899999 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:18.86, Y:-24.64, Z:44.00 [[ 6.50706234e-01 7.47186385e-01 -1.35254958e-01 1.88558268e+01] [-7.32716878e-01 6.64603400e-01 1.46384075e-01 -2.46381999e+01] [ 1.99267093e-01 3.85056059e-03 9.79937651e-01 4.39958731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15420609899999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:18.88, Y:-24.62, Z:44.03 [[ 6.11229127e-01 7.81150228e-01 -1.27292092e-01 1.88772984e+01] [-7.65509793e-01 6.24338628e-01 1.55550743e-01 -2.46208407e+01] [ 2.00981868e-01 2.36619777e-03 9.79592104e-01 4.40288042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18420609899998 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:18.86, Y:-24.64, Z:44.06 [[ 6.51515129e-01 7.46061285e-01 -1.37552158e-01 1.88577564e+01] [-7.31817380e-01 6.65849771e-01 1.45215029e-01 -2.46419094e+01] [ 1.99928384e-01 6.05327210e-03 9.79791814e-01 4.40606949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21420609899998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:18.89, Y:-24.62, Z:44.09 [[ 5.94407277e-01 7.94612791e-01 -1.23573869e-01 1.88896776e+01] [-7.78026378e-01 6.07116539e-01 1.61506854e-01 -2.46177961e+01] [ 2.03359152e-01 1.42880029e-04 9.79104200e-01 4.40929697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24420609899998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:18.88, Y:-24.63, Z:44.13 [[ 6.13347991e-01 7.79167957e-01 -1.29234425e-01 1.88810411e+01] [-7.63194400e-01 6.26810802e-01 1.56979383e-01 -2.46271019e+01] [ 2.03318839e-01 2.34800060e-03 9.79109767e-01 4.41264469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.27420609899998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:18.88, Y:-24.64, Z:44.16 [[ 6.26801000e-01 7.67965597e-01 -1.31716922e-01 1.88762660e+01] [-7.52925024e-01 6.40476434e-01 1.51307123e-01 -2.46355964e+01] [ 2.00560250e-01 4.33351008e-03 9.79671785e-01 4.41560832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30420609899998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:18.89, Y:-24.63, Z:44.19 [[ 6.11459121e-01 7.80586226e-01 -1.29625949e-01 1.88864456e+01] [-7.64474870e-01 6.25042666e-01 1.57796829e-01 -2.46314850e+01] [ 2.04195780e-01 2.60947006e-03 9.78926593e-01 4.41877043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.33420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:18.89, Y:-24.63, Z:44.22 [[ 6.06757822e-01 7.84388841e-01 -1.28759820e-01 1.88904994e+01] [-7.68090114e-01 6.20264882e-01 1.59088193e-01 -2.46311490e+01] [ 2.04652198e-01 2.37113914e-03 9.78831883e-01 4.42197957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36420609899999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:18.89, Y:-24.64, Z:44.25 [[ 6.15880056e-01 7.76982156e-01 -1.30347557e-01 1.88875423e+01] [-7.61599135e-01 6.29506659e-01 1.53909465e-01 -2.46367904e+01] [ 2.01639563e-01 4.48281638e-03 9.79449535e-01 4.42509559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39420609899999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:18.90, Y:-24.64, Z:44.28 [[ 6.06808480e-01 7.84168430e-01 -1.29858932e-01 1.88952007e+01] [-7.67996640e-01 6.20537786e-01 1.58474027e-01 -2.46357989e+01] [ 2.04852703e-01 3.56783973e-03 9.78786310e-01 4.42820415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:18.91, Y:-24.63, Z:44.31 [[ 5.83704824e-01 8.02166004e-01 -1.25771146e-01 1.89105669e+01] [-7.84785281e-01 5.97098498e-01 1.66088670e-01 -2.46299284e+01] [ 2.08328448e-01 1.75658647e-03 9.78057346e-01 4.43133518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.45420609899999 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:18.92, Y:-24.63, Z:44.35 [[ 5.73810997e-01 8.09410657e-01 -1.24881251e-01 1.89182772e+01] [-7.91689784e-01 5.87238901e-01 1.68456996e-01 -2.46280233e+01] [ 2.09686017e-01 2.20473338e-03 9.77766288e-01 4.43456234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48420609899999 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:18.92, Y:-24.63, Z:44.38 [[ 5.71742417e-01 8.10569833e-01 -1.26835144e-01 1.89208022e+01] [-7.92206128e-01 5.85637151e-01 1.71576741e-01 -2.46285835e+01] [ 2.13354303e-01 2.38187782e-03 9.76971989e-01 4.43782141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51420609899999 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:18.93, Y:-24.63, Z:44.41 [[ 5.59182208e-01 8.19588131e-01 -1.24862141e-01 1.89293685e+01] [-8.00654771e-01 5.72949555e-01 1.75159199e-01 -2.46262804e+01] [ 2.15098109e-01 2.02556163e-03 9.76590344e-01 4.44107098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54420609899998 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:18.95, Y:-24.61, Z:44.44 [[ 5.18247455e-01 8.47446808e-01 -1.15123767e-01 1.89516802e+01] [-8.27119560e-01 5.30880167e-01 1.84497917e-01 -2.46114043e+01] [ 2.17469096e-01 -3.94456651e-04 9.76067127e-01 4.44429973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57420609899998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:18.93, Y:-24.63, Z:44.47 [[ 5.68534441e-01 8.12397183e-01 -1.29535347e-01 1.89278392e+01] [-7.92909082e-01 5.83100525e-01 1.76886872e-01 -2.46332329e+01] [ 2.19234526e-01 2.14347355e-03 9.75669836e-01 4.44742324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60420609899998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:18.94, Y:-24.63, Z:44.51 [[ 5.54359422e-01 8.22793371e-01 -1.25286468e-01 1.89359441e+01] [-8.03667813e-01 5.68333217e-01 1.76395579e-01 -2.46279897e+01] [ 2.16341575e-01 2.90215095e-03 9.76313423e-01 4.45074893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.63420609899998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:18.95, Y:-24.63, Z:44.54 [[ 5.31809320e-01 8.38110806e-01 -1.21445972e-01 1.89490071e+01] [-8.17799269e-01 5.45497114e-01 1.83404618e-01 -2.46251084e+01] [ 2.19961820e-01 1.78214193e-03 9.75506854e-01 4.45377772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66420609899998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:18.95, Y:-24.63, Z:44.57 [[ 5.39162452e-01 8.32857338e-01 -1.25109974e-01 1.89467121e+01] [-8.12541626e-01 5.53479220e-01 1.82857482e-01 -2.46295490e+01] [ 2.21539967e-01 3.06717350e-03 9.75146469e-01 4.45693878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.69420609899998 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:18.95, Y:-24.63, Z:44.60 [[ 5.29270096e-01 8.39319982e-01 -1.24157695e-01 1.89520790e+01] [-8.18535137e-01 5.43627314e-01 1.85659830e-01 -2.46285359e+01] [ 2.23323519e-01 3.36323980e-03 9.74738577e-01 4.46008031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72420609899999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:18.96, Y:-24.63, Z:44.63 [[ 5.19585342e-01 8.45726694e-01 -1.21562463e-01 1.89613552e+01] [-8.24992781e-01 5.33604393e-01 1.86153868e-01 -2.46280981e+01] [ 2.22301560e-01 3.56533319e-03 9.74971438e-01 4.46335772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75420609899999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:18.98, Y:-24.63, Z:44.66 [[ 5.01487220e-01 8.57680998e-01 -1.13551198e-01 1.89753919e+01] [-8.37218286e-01 5.14179459e-01 1.86239165e-01 -2.46286876e+01] [ 2.18119486e-01 1.67057829e-03 9.75920642e-01 4.46645099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78420609899999 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:18.97, Y:-24.63, Z:44.70 [[ 5.06622098e-01 8.53999732e-01 -1.18399777e-01 1.89737947e+01] [-8.33043707e-01 5.20262602e-01 1.88055862e-01 -2.46313257e+01] [ 2.22198632e-01 3.35893357e-03 9.74995634e-01 4.46960865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81420609899999 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:19.00, Y:-24.62, Z:44.73 [[ 4.62984679e-01 8.79206952e-01 -1.12429190e-01 1.89973353e+01] [-8.56592710e-01 4.76418314e-01 1.98177999e-01 -2.46208956e+01] [ 2.27802799e-01 4.55264704e-03 9.73696646e-01 4.47283814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84420609899999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:19.00, Y:-24.62, Z:44.76 [[ 4.56285218e-01 8.83665455e-01 -1.04590456e-01 1.90001952e+01] [-8.62432064e-01 4.68113126e-01 1.92564372e-01 -2.46166770e+01] [ 2.19122649e-01 2.33788670e-03 9.75694521e-01 4.47595074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87420609899999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:19.01, Y:-24.62, Z:44.79 [[ 4.43012221e-01 8.90289140e-01 -1.05477103e-01 1.90080947e+01] [-8.68045331e-01 4.55378762e-01 1.97806689e-01 -2.46152103e+01] [ 2.24137180e-01 3.92812616e-03 9.74549688e-01 4.47910543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:19.02, Y:-24.61, Z:44.82 [[ 4.27930492e-01 8.98026795e-01 -1.02094900e-01 1.90177212e+01] [-8.75311308e-01 4.39927121e-01 2.00734256e-01 -2.46126090e+01] [ 2.25179056e-01 3.46451191e-03 9.74311239e-01 4.48241200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93420609899998 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] Translation: X:19.05, Y:-24.60, Z:44.85 [[ 3.74061726e-01 9.23236374e-01 -8.78204031e-02 1.90485444e+01] [-9.00200771e-01 3.84225062e-01 2.04962615e-01 -2.45996386e+01] [ 2.22971741e-01 2.38732515e-03 9.74821985e-01 4.48548702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96420609899998 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] Translation: X:19.01, Y:-24.62, Z:44.89 [[ 4.39197856e-01 8.92128332e-01 -1.05888069e-01 1.90144623e+01] [-8.70146903e-01 4.51746610e-01 1.96899383e-01 -2.46160348e+01] [ 2.23494095e-01 5.66038870e-03 9.74688848e-01 4.48862557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.99420609899998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:19.00, Y:-24.62, Z:44.92 [[ 4.59547704e-01 8.80966786e-01 -1.12753844e-01 1.90041913e+01] [-8.59024352e-01 4.73126227e-01 1.95521700e-01 -2.46247136e+01] [ 2.25594925e-01 7.00675011e-03 9.74195994e-01 4.49177374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02420609899998 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:19.01, Y:-24.62, Z:44.95 [[ 4.46233008e-01 8.88035091e-01 -1.10769040e-01 1.90110542e+01] [-8.65894680e-01 4.59707656e-01 1.97218846e-01 -2.46211002e+01] [ 2.26058631e-01 7.90876347e-03 9.74081591e-01 4.49488829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.05420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.06, Y:-24.60, Z:44.98 [[ 3.54023563e-01 9.31273663e-01 -8.60039631e-02 1.90613864e+01] [-9.07529035e-01 3.64297763e-01 2.08993276e-01 -2.46006500e+01] [ 2.25960985e-01 4.06254938e-03 9.74127881e-01 4.49812972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08420609899999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:19.03, Y:-24.62, Z:45.01 [[ 4.15320708e-01 9.03827551e-01 -1.02977996e-01 1.90286426e+01] [-8.81093980e-01 4.27839301e-01 2.01561235e-01 -2.46159741e+01] [ 2.26234632e-01 7.02073737e-03 9.74047535e-01 4.50133070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.12, Y:-24.59, Z:45.04 [[ 2.56928473e-01 9.64267222e-01 -6.46257275e-02 1.91152362e+01] [-9.38383949e-01 2.64906821e-01 2.21945805e-01 -2.45872504e+01] [ 2.31134861e-01 3.61954845e-03 9.72914989e-01 4.50446635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.04, Y:-24.61, Z:45.08 [[ 4.00428150e-01 9.10416144e-01 -1.03921803e-01 1.90387634e+01] [-8.86639042e-01 4.13589441e-01 2.06917819e-01 -2.46141560e+01] [ 2.31362283e-01 9.28540838e-03 9.72823353e-01 4.50762603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17420609899999 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:19.04, Y:-24.61, Z:45.11 [[ 3.94198256e-01 9.13092173e-01 -1.04261298e-01 1.90427212e+01] [-8.89345296e-01 4.07603366e-01 2.07182142e-01 -2.46135308e+01] [ 2.31673648e-01 1.10534559e-02 9.72730765e-01 4.51094545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20420609899999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:19.13, Y:-24.59, Z:45.14 [[ 2.32402379e-01 9.70747532e-01 -6.03188455e-02 1.91307253e+01] [-9.45183200e-01 2.40038097e-01 2.21382994e-01 -2.45894016e+01] [ 2.29385816e-01 5.56242499e-03 9.73319684e-01 4.51405659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.23420609899999 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:19.12, Y:-24.59, Z:45.17 [[ 2.54822100e-01 9.64657565e-01 -6.70930649e-02 1.91199779e+01] [-9.39193093e-01 2.63416910e-01 2.20290412e-01 -2.45928834e+01] [ 2.30178260e-01 6.87847784e-03 9.73124172e-01 4.51719544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26420609899999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:19.05, Y:-24.61, Z:45.20 [[ 3.93301244e-01 9.13784239e-01 -1.01550464e-01 1.90451544e+01] [-8.90501215e-01 4.06083394e-01 2.05192262e-01 -2.46138063e+01] [ 2.28739411e-01 9.72843955e-03 9.73439078e-01 4.52035395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29420609899998 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:19.04, Y:-24.62, Z:45.24 [[ 4.09043490e-01 9.06053255e-01 -1.08401674e-01 1.90384622e+01] [-8.82460600e-01 4.23007268e-01 2.05738039e-01 -2.46212449e+01] [ 2.32264316e-01 1.15044006e-02 9.72584668e-01 4.52378155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32420609899998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:19.12, Y:-24.59, Z:45.27 [[ 2.60110608e-01 9.63192062e-01 -6.78492736e-02 1.91195945e+01] [-9.37475389e-01 2.68745424e-01 2.21169148e-01 -2.45944938e+01] [ 2.31262549e-01 6.07858266e-03 9.72872388e-01 4.52707985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35420609899998 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:19.14, Y:-24.59, Z:45.30 [[ 2.30970314e-01 9.70980811e-01 -6.20401342e-02 1.91358551e+01] [-9.44230320e-01 2.39074920e-01 2.26433842e-01 -2.45943060e+01] [ 2.34695156e-01 6.28068017e-03 9.72048732e-01 4.53010321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38420609899998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:19.15, Y:-24.59, Z:45.34 [[ 2.01876192e-01 9.77946422e-01 -5.35424951e-02 1.91520503e+01] [-9.50702935e-01 2.08804839e-01 2.29269424e-01 -2.45941597e+01] [ 2.35393145e-01 4.61896898e-03 9.71889259e-01 4.53351896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.41420609899998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:19.15, Y:-24.59, Z:45.37 [[ 2.06890298e-01 9.76783695e-01 -5.55879376e-02 1.91482042e+01] [-9.50250354e-01 2.14143246e-01 2.26201095e-01 -2.45919595e+01] [ 2.32853322e-01 6.02364565e-03 9.72493211e-01 4.53670261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44420609899998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:19.18, Y:-24.59, Z:45.40 [[ 1.52086801e-01 9.87486032e-01 -4.17245798e-02 1.91785426e+01] [-9.60496777e-01 1.57620893e-01 2.29350376e-01 -2.45879585e+01] [ 2.33056958e-01 5.19515939e-03 9.72449209e-01 4.54003562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.47420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:19.23, Y:-24.59, Z:45.43 [[ 5.33852401e-02 9.98449854e-01 -1.57450254e-02 1.92308389e+01] [-9.70464182e-01 5.55908279e-02 2.34752913e-01 -2.45865499e+01] [ 2.35264291e-01 2.74764257e-03 9.71927551e-01 4.54307227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:19.22, Y:-24.59, Z:45.46 [[ 6.52965341e-02 9.97679037e-01 -1.93106605e-02 1.92246449e+01] [-9.69432575e-01 6.80108011e-02 2.35743533e-01 -2.45883715e+01] [ 2.36509715e-01 3.32714770e-03 9.71623428e-01 4.54617043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53420609899999 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:19.75, Y:-25.03, Z:45.45 [[-9.47910392e-01 1.63645428e-01 2.73287509e-01 1.97530364e+01] [-1.50904046e-01 -9.86264380e-01 6.71605641e-02 -2.50262058e+01] [ 2.80524254e-01 2.24220058e-02 9.59585013e-01 4.54520252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56420609899999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:19.44, Y:-25.58, Z:45.51 [[-3.86720535e-01 -9.13480490e-01 1.26493569e-01 1.94430517e+01] [ 8.88471333e-01 -4.05811592e-01 -2.14326018e-01 -2.55762130e+01] [ 2.47115193e-01 2.95016375e-02 9.68536904e-01 4.55091400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.59420609899999 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:18.93, Y:-25.51, Z:45.55 [[ 5.67163912e-01 -8.12889111e-01 -1.32425037e-01 1.89347474e+01] [ 7.91087681e-01 5.82417030e-01 -1.87004503e-01 -2.55099315e+01] [ 2.29140521e-01 1.30238996e-03 9.73392483e-01 4.55500280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62420609899999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:18.93, Y:-25.49, Z:45.63 [[ 5.76770459e-01 -8.07835907e-01 -1.21395989e-01 1.89253102e+01] [ 7.82779354e-01 5.89042491e-01 -2.00712300e-01 -2.54930563e+01] [ 2.33649998e-01 2.07386514e-02 9.72099577e-01 4.56271712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65420609899999 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:18.81, Y:-25.35, Z:45.66 [[ 8.13327298e-01 -5.50170835e-01 -1.89237308e-01 1.88053728e+01] [ 5.33243653e-01 8.34998042e-01 -1.35755212e-01 -2.53548484e+01] [ 2.32701340e-01 9.50382632e-03 9.72501807e-01 4.56636209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68420609899998 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:18.77, Y:-25.29, Z:45.70 [[ 8.79934122e-01 -4.28245765e-01 -2.05721913e-01 1.87725030e+01] [ 4.15107807e-01 9.03631527e-01 -1.05525222e-01 -2.52895744e+01] [ 2.31087536e-01 7.45847156e-03 9.72904374e-01 4.57015787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71420609899998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:19.16, Y:-24.57, Z:45.78 [[ 2.68515585e-01 9.56938678e-01 -1.10307508e-01 1.91625251e+01] [-9.27811044e-01 2.87714648e-01 2.37459358e-01 -2.45684539e+01] [ 2.58971130e-01 3.85829854e-02 9.65114142e-01 4.57807421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74420609899998 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:19.78, Y:-24.89, Z:45.80 [[-9.13513728e-01 3.51593857e-01 2.04632426e-01 1.97848668e+01] [-3.40824150e-01 -9.36103087e-01 8.68902104e-02 -2.48937363e+01] [ 2.22107110e-01 9.63172736e-03 9.74974698e-01 4.58014819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.77420609899998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:18.79, Y:-25.13, Z:45.73 [[ 9.66834900e-01 1.12895373e-01 -2.29095855e-01 1.87918840e+01] [ 1.25127645e-01 -9.91352401e-01 3.95409816e-02 -2.51313244e+01] [-2.22650732e-01 -6.68958258e-02 -9.72600432e-01 4.57299733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80420609899998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:19.50, Y:-24.58, Z:45.72 [[-3.84400936e-01 -9.11396826e-01 1.46941299e-01 1.94953846e+01] [-8.59052605e-01 4.11426749e-01 3.04559766e-01 -2.45846125e+01] [-3.38030385e-01 -9.15724676e-03 -9.41090646e-01 4.57156393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.83420609899999 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:19.57, Y:-24.62, Z:45.65 [[-5.29585064e-01 -8.24751813e-01 1.98303071e-01 1.95698296e+01] [-7.75449252e-01 5.65472764e-01 2.80925276e-01 -2.46204503e+01] [-3.43828616e-01 -5.00013794e-03 -9.39019106e-01 4.56461728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.80, Y:-24.88, Z:45.46 [[ 0.89269739 -0.42014115 -0.1630116 18.80350663] [ -0.37917003 -0.8957259 0.23217494 -24.88490514] [ -0.24355995 -0.14545285 -0.95891711 45.45783767] [ 0. 0. 0. 1. ]] SLAMing on 75.89420609899999 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:19.54, Y:-24.65, Z:45.49 [[-4.98878252e-01 -8.37635140e-01 2.22458677e-01 1.95406866e+01] [-7.65488056e-01 5.46229788e-01 3.40089775e-01 -2.46547620e+01] [-4.06384702e-01 -6.26067674e-04 -9.13701856e-01 4.54888721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92420609899999 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:19.56, Y:-24.66, Z:45.44 [[-5.30852233e-01 -8.14264644e-01 2.34880813e-01 1.95601190e+01] [-7.43620970e-01 5.80492029e-01 3.31748183e-01 -2.46586541e+01] [-4.06477256e-01 1.44696589e-03 -9.13659754e-01 4.54407291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.95420609899999 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:19.59, Y:-24.68, Z:45.39 [[-5.95827449e-01 -7.60789822e-01 2.57271253e-01 1.95946266e+01] [-6.94123985e-01 6.48960245e-01 3.11516444e-01 -2.46798291e+01] [-4.03957355e-01 7.03190094e-03 -9.14750790e-01 4.53898147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98420609899999 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:18.89, Y:-24.74, Z:45.18 [[ 0.70722698 -0.70549577 -0.04588799 18.88577028] [ -0.64904872 -0.67363353 0.35348781 -24.74074594] [ -0.28029584 -0.22021258 -0.93431294 45.18472997] [ 0. 0. 0. 1. ]] SLAMing on 76.01420609899999 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:18.94, Y:-25.45, Z:44.93 [[ 7.43379605e-01 6.60374894e-01 -1.06262707e-01 1.89366456e+01] [ 6.67383500e-01 -7.42892569e-01 5.20566495e-02 -2.54485393e+01] [-4.45648714e-02 -1.09615829e-01 -9.92974492e-01 4.49335896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04420609899998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:19.72, Y:-25.42, Z:44.87 [[-6.39622273e-01 7.39422922e-01 2.10088290e-01 1.97168223e+01] [ 7.53177607e-01 6.57482454e-01 -2.09836755e-02 -2.54195188e+01] [-1.53645175e-01 1.44812169e-01 -9.77457209e-01 4.48741253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07420609899998 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:18.89, Y:-24.84, Z:44.81 [[ 0.86420962 -0.47520209 -0.16530183 18.89285998] [ -0.39832257 -0.84692026 0.3522289 -24.84191069] [ -0.30737738 -0.23855615 -0.92120036 44.8143548 ] [ 0. 0. 0. 1. ]] SLAMing on 76.10420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.47, Y:-24.58, Z:44.83 [[-2.31412216e-01 -9.61231148e-01 1.49943544e-01 1.94661311e+01] [-8.39965046e-01 2.75174094e-01 4.67694280e-01 -2.45783558e+01] [-4.90822888e-01 -1.77171661e-02 -8.71079212e-01 4.48263938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.13420609899998 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:19.49, Y:-24.57, Z:44.77 [[-2.83714371e-01 -9.43634494e-01 1.70470224e-01 1.94949499e+01] [-8.22846023e-01 3.30861695e-01 4.62011862e-01 -2.45721735e+01] [-4.92372397e-01 -9.19134133e-03 -8.70336108e-01 4.47712337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16420609899998 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:19.52, Y:-24.57, Z:44.72 [[-3.20895980e-01 -9.28952206e-01 1.84590272e-01 1.95166079e+01] [-8.08533472e-01 3.70191476e-01 4.57418731e-01 -2.45714641e+01] [-4.93253885e-01 -2.46358178e-03 -8.69881909e-01 4.47249557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.19420609899998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:18.91, Y:-24.75, Z:44.50 [[ 0.8027349 -0.5903419 -0.08433934 18.91137906] [ -0.50389051 -0.74711155 0.43349588 -24.74804928] [ -0.31892168 -0.30548448 -0.8972002 44.49729866] [ 0. 0. 0. 1. ]] SLAMing on 76.22420609899999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:19.01, Y:-25.38, Z:44.18 [[ 7.29764949e-01 6.74532985e-01 -1.11572266e-01 1.90073757e+01] [ 6.82946846e-01 -7.11543023e-01 1.65197250e-01 -2.53751619e+01] [ 3.20425267e-02 -1.96753090e-01 -9.79929333e-01 4.41808044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25420609899999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:19.70, Y:-25.41, Z:44.09 [[-4.73289647e-01 8.68386380e-01 1.47993259e-01 1.96989571e+01] [ 8.80881766e-01 4.67817675e-01 7.20689793e-02 -2.54057800e+01] [-6.65014237e-03 1.64474065e-01 -9.86358990e-01 4.40897282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28420609899999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:19.47, Y:-24.49, Z:44.32 [[-5.31150960e-02 -9.97501371e-01 4.65811252e-02 1.94668549e+01] [-8.36528818e-01 6.99212134e-02 5.43443244e-01 -2.44896139e+01] [-5.45342390e-01 -1.01014135e-02 -8.38152515e-01 4.43216145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31420609899999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:18.95, Y:-24.81, Z:44.07 [[ 0.91534866 -0.35124062 -0.196893 18.94868851] [ -0.23479235 -0.86282519 0.44766645 -24.8135353 ] [ -0.32712288 -0.36354191 -0.87225449 44.07194069] [ 0. 0. 0. 1. ]] SLAMing on 76.34420609899999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:19.16, Y:-25.33, Z:43.73 [[ 0.61335413 0.77011684 -0.175262 19.16087936] [ 0.78734878 -0.57870224 0.21256909 -25.33320998] [ 0.06227853 -0.26837245 -0.96129996 43.73384696] [ 0. 0. 0. 1. ]] SLAMing on 76.37420609899999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:19.48, Y:-25.44, Z:43.68 [[-1.39794724e-02 9.97819539e-01 -6.45038077e-02 1.94823065e+01] [ 9.83893998e-01 2.52241863e-02 1.76964235e-01 -2.54413585e+01] [ 1.78205428e-01 -6.09910426e-02 -9.82101277e-01 4.36821943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40420609899998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:19.40, Y:-24.53, Z:44.13 [[ 1.20823243e-01 -9.87522832e-01 -1.00997028e-01 1.93964868e+01] [-7.44917380e-01 -1.57445437e-01 6.48312449e-01 -2.45286111e+01] [-6.56124867e-01 -3.09677124e-03 -7.54645989e-01 4.41256113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43420609899998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:19.58, Y:-25.42, Z:43.69 [[ -0.21437439 0.97183875 -0.09784207 19.57540956] [ 0.96423891 0.22654618 0.13755056 -25.42408144] [ 0.15584271 -0.06485581 -0.98565043 43.6872477 ] [ 0. 0. 0. 1. ]] SLAMing on 76.46420609899998 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:19.66, Y:-25.40, Z:43.68 [[ -0.39111842 0.91132897 -0.12847527 19.66231959] [ 0.90030133 0.40782785 0.15209855 -25.40253275] [ 0.19100761 -0.05617792 -0.97997966 43.67981072] [ 0. 0. 0. 1. ]] SLAMing on 76.49420609899998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:19.73, Y:-25.36, Z:43.67 [[ -0.54340759 0.8241929 -0.15941846 19.72983906] [ 0.81740819 0.56274833 0.1231185 -25.35700927] [ 0.19118587 -0.06340643 -0.97950375 43.66970302] [ 0. 0. 0. 1. ]] SLAMing on 76.52420609899998 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:19.96, Y:-24.86, Z:43.78 [[-9.91081636e-01 -1.30778361e-01 -2.55775349e-02 1.99602915e+01] [-1.32075428e-01 9.38541287e-01 3.18898625e-01 -2.48634613e+01] [-1.76994669e-02 3.19432735e-01 -9.47443643e-01 4.37826695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.55420609899998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:19.83, Y:-25.28, Z:43.70 [[-7.57609200e-01 6.38661027e-01 -1.34686277e-01 1.98295594e+01] [ 6.41665463e-01 7.66559289e-01 2.55399785e-02 -2.52786720e+01] [ 1.19556406e-01 -6.70742097e-02 -9.90559093e-01 4.37043634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58420609899999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:19.85, Y:-24.63, Z:43.83 [[ -0.78879762 -0.6073138 -0.09470093 19.8477339 ] [ -0.60048265 0.72851855 0.32966849 -24.63192138] [ -0.13122083 0.31690798 -0.9393351 43.83325458] [ 0. 0. 0. 1. ]] SLAMing on 76.61420609899999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:19.05, Y:-24.76, Z:44.07 [[ 7.25529275e-01 -4.69255564e-01 -5.03394962e-01 1.90505039e+01] [-3.78117012e-01 -8.82988128e-01 2.78135741e-01 -2.47559946e+01] [-5.75008519e-01 -1.14534236e-02 -8.18067248e-01 4.40674183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64420609899999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:19.89, Y:-25.17, Z:43.68 [[-9.08377081e-01 4.09780930e-01 -8.32506369e-02 1.98909142e+01] [ 4.13770803e-01 9.09609763e-01 -3.74673423e-02 -2.51666795e+01] [ 6.03721897e-02 -6.84811579e-02 -9.95824046e-01 4.36811341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67420609899999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:19.74, Y:-24.54, Z:43.82 [[ -0.60362093 -0.78914369 -0.11355179 19.74221422] [ -0.78266608 0.55938545 0.27298668 -24.54451902] [ -0.1519065 0.25365361 -0.95529276 43.81871165] [ 0. 0. 0. 1. ]] SLAMing on 76.70420609899999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:18.99, Y:-24.90, Z:44.03 [[ 8.25025777e-01 -1.50732629e-01 -5.44621099e-01 1.89944984e+01] [-1.10413687e-01 -9.88191604e-01 1.06236392e-01 -2.49047724e+01] [-5.54203289e-01 -2.75141381e-02 -8.31926491e-01 4.40333577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.73420609899999 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] Translation: X:18.98, Y:-24.90, Z:44.02 [[ 8.33341815e-01 -1.62144447e-01 -5.28441669e-01 1.89835483e+01] [-1.23858300e-01 -9.86474685e-01 1.07363018e-01 -2.48978650e+01] [-5.38702646e-01 -2.40182056e-02 -8.42153540e-01 4.40177192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76420609899999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:18.99, Y:-24.90, Z:44.04 [[ 8.32662681e-01 -1.64480003e-01 -5.28790307e-01 1.89889213e+01] [-1.22505819e-01 -9.85925623e-01 1.13767263e-01 -2.48995098e+01] [-5.40060352e-01 -2.99498645e-02 -8.41093230e-01 4.40357432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79420609899998 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:19.00, Y:-24.89, Z:44.04 [[ 8.20018257e-01 -1.88245166e-01 -5.40494048e-01 1.89988952e+01] [-1.44887684e-01 -9.81878817e-01 1.22153787e-01 -2.48882283e+01] [-5.53694517e-01 -2.18574042e-02 -8.32432962e-01 4.40445965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82420609899998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:18.99, Y:-24.89, Z:44.03 [[ 8.31497114e-01 -1.78619206e-01 -5.26030160e-01 1.89876312e+01] [-1.39311510e-01 -9.83686577e-01 1.13811341e-01 -2.48912489e+01] [-5.37777699e-01 -2.13517458e-02 -8.42816261e-01 4.40301953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85420609899998 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:18.99, Y:-24.89, Z:44.03 [[ 8.31538632e-01 -1.74752723e-01 -5.27261784e-01 1.89860761e+01] [-1.36549341e-01 -9.84404446e-01 1.10915122e-01 -2.48927643e+01] [-5.38421564e-01 -2.02329601e-02 -8.42432696e-01 4.40301351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88420609899998 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:18.99, Y:-24.90, Z:44.03 [[ 8.32439048e-01 -1.68300677e-01 -5.27939499e-01 1.89860515e+01] [-1.31079028e-01 -9.85527085e-01 1.07492571e-01 -2.48960767e+01] [-5.38389748e-01 -2.02792172e-02 -8.42451917e-01 4.40317064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.91420609899998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:18.99, Y:-24.89, Z:44.04 [[ 8.35387337e-01 -1.73374775e-01 -5.21602516e-01 1.89875661e+01] [-1.40386666e-01 -9.84777960e-01 1.02488797e-01 -2.48919877e+01] [-5.31431634e-01 -1.23918054e-02 -8.47010544e-01 4.40358617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94420609899998 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:18.99, Y:-24.90, Z:44.04 [[ 8.32600755e-01 -1.63348313e-01 -5.29238425e-01 1.89867042e+01] [-1.29370854e-01 -9.86445551e-01 1.00937392e-01 -2.48987715e+01] [-5.38552843e-01 -1.55725219e-02 -8.42447822e-01 4.40365968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.97420609899999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:19.00, Y:-24.91, Z:44.06 [[ 8.22732670e-01 -1.56804110e-01 -5.46372972e-01 1.89993024e+01] [-1.14596118e-01 -9.87217963e-01 1.10762917e-01 -2.49062697e+01] [-5.56757293e-01 -2.85160488e-02 -8.30185613e-01 4.40562368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00420609899999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:18.99, Y:-24.88, Z:44.04 [[ 8.31685118e-01 -1.92486807e-01 -5.20815413e-01 1.89881253e+01] [-1.57704667e-01 -9.81248278e-01 1.10819922e-01 -2.48833629e+01] [-5.32380600e-01 -1.00322586e-02 -8.46445657e-01 4.40369821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03420609899999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:19.00, Y:-24.89, Z:44.05 [[ 8.20027189e-01 -1.82642530e-01 -5.42399405e-01 1.89960120e+01] [-1.44444742e-01 -9.83079240e-01 1.12654002e-01 -2.48917479e+01] [-5.53797007e-01 -1.40326020e-02 -8.32533459e-01 4.40464950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06420609899999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:18.99, Y:-24.89, Z:44.04 [[ 8.21756035e-01 -1.84045014e-01 -5.39299964e-01 1.89940940e+01] [-1.49065621e-01 -9.82880249e-01 1.08286000e-01 -2.48892844e+01] [-5.49996781e-01 -8.59359014e-03 -8.35122561e-01 4.40439854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.09420609899999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:19.38, Y:-25.47, Z:43.89 [[ 0.09026297 0.91566391 -0.3916787 19.38170065] [ 0.96078765 -0.18359678 -0.20779633 -25.47305255] [ -0.26218254 -0.35756375 -0.89633056 43.88708414] [ 0. 0. 0. 1. ]] SLAMing on 77.12420609899999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:19.00, Y:-24.89, Z:44.07 [[ 7.90655767e-01 -1.81742249e-01 -5.84665044e-01 1.90012372e+01] [-1.42006772e-01 -9.83322607e-01 1.13625382e-01 -2.48932195e+01] [-5.95564887e-01 -6.81216797e-03 -8.03278320e-01 4.40739547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15420609899998 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:19.01, Y:-24.90, Z:44.07 [[ 7.79723772e-01 -1.72361542e-01 -6.01932170e-01 1.90059925e+01] [-1.26612690e-01 -9.84906918e-01 1.18015209e-01 -2.48999009e+01] [-6.13188442e-01 -1.58070130e-02 -7.89778496e-01 4.40739295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18420609899998 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:19.37, Y:-25.47, Z:43.88 [[ 0.09350428 0.88746983 -0.45128068 19.37377147] [ 0.9652023 -0.19198312 -0.17755842 -25.47430498] [ -0.24421601 -0.41897468 -0.87453917 43.88052354] [ 0. 0. 0. 1. ]] SLAMing on 77.21420609899998 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:19.02, Y:-24.88, Z:44.10 [[ 7.26153294e-01 -2.04828573e-01 -6.56312920e-01 1.90220262e+01] [-1.57550750e-01 -9.78763760e-01 1.31145960e-01 -2.48833745e+01] [-6.69237742e-01 8.17052248e-03 -7.43003424e-01 4.41025388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24420609899998 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:19.39, Y:-25.48, Z:43.87 [[ 3.26070018e-02 8.63964683e-01 -5.02495582e-01 1.93909163e+01] [ 9.74143760e-01 -1.39931433e-01 -1.77378492e-01 -2.54757522e+01] [-2.23563679e-01 -4.83719155e-01 -8.46188549e-01 4.38658978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.27420609899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:19.02, Y:-24.90, Z:44.12 [[ 7.06528674e-01 -1.83859282e-01 -6.83383492e-01 1.90221755e+01] [-1.29784996e-01 -9.82946868e-01 1.30273976e-01 -2.48951408e+01] [-6.95681743e-01 -3.34937533e-03 -7.18342323e-01 4.41249929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30420609899998 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:19.02, Y:-24.90, Z:44.12 [[ 7.08559171e-01 -1.95962442e-01 -6.77895732e-01 1.90192854e+01] [-1.18284277e-01 -9.80057499e-01 1.59675074e-01 -2.48967890e+01] [-6.95667112e-01 -3.29548310e-02 -7.17608004e-01 4.41169265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.33420609899999 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:19.24, Y:-25.43, Z:43.91 [[ 0.28447148 0.73304345 -0.61783758 19.24406484] [ 0.90030361 -0.42573133 -0.0905883 -25.43135497] [ -0.32943798 -0.53047162 -0.78107009 43.91336 ] [ 0. 0. 0. 1. ]] SLAMing on 77.36420609899999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:19.03, Y:-24.86, Z:44.10 [[ 6.20212467e-01 -2.68299012e-01 -7.37124234e-01 1.90256005e+01] [-1.66477842e-01 -9.63303527e-01 2.10550332e-01 -2.48586814e+01] [-7.66564821e-01 -7.87108908e-03 -6.42118698e-01 4.41006733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39420609899999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:19.27, Y:-25.44, Z:43.83 [[ 0.14862049 0.74457363 -0.65078572 19.27295383] [ 0.94879523 -0.29286566 -0.11839478 -25.44026489] [ -0.27874642 -0.5998665 -0.74997375 43.82706125] [ 0. 0. 0. 1. ]] SLAMing on 77.42420609899999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:19.79, Y:-25.14, Z:43.50 [[-8.61027160e-01 3.65444444e-01 -3.53670167e-01 1.97917782e+01] [ 3.98695329e-01 9.16786508e-01 -2.33352215e-02 -2.51404295e+01] [ 3.15712311e-01 -1.61098903e-01 -9.35079077e-01 4.35031490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45420609899999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:19.61, Y:-24.50, Z:43.68 [[ -0.56763331 -0.7231089 -0.39358093 19.60964329] [ -0.82056127 0.45808904 0.34180935 -24.4986528 ] [ -0.06687027 0.51697964 -0.85338175 43.67698993] [ 0. 0. 0. 1. ]] SLAMing on 77.48420609899999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:19.01, Y:-24.91, Z:44.10 [[ 6.25535007e-01 -1.31653097e-01 -7.69008074e-01 1.90114911e+01] [-7.90255619e-02 -9.91282340e-01 1.05424296e-01 -2.49078142e+01] [-7.76183558e-01 -5.17529279e-03 -6.30485765e-01 4.40972393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51420609899999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:19.49, Y:-24.45, Z:43.82 [[ 0.05999472 0.86470861 0.4986779 19.48655264] [ -0.9716487 -0.06386573 0.22764 -24.44920893] [ 0.2286907 -0.49819693 0.8363614 43.82226952] [ 0. 0. 0. 1. ]] SLAMing on 77.54420609899998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:19.01, Y:-24.91, Z:44.10 [[ 9.63644315e-01 1.00531268e-01 2.47554234e-01 1.90112175e+01] [-1.00208424e-01 9.94868852e-01 -1.39369442e-02 -2.49069223e+01] [-2.47685095e-01 -1.13767626e-02 9.68773793e-01 4.40998411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57420609899998 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:19.03, Y:-24.90, Z:44.13 [[ 9.63698415e-01 1.14097913e-01 2.41385647e-01 1.90265871e+01] [-1.15807682e-01 9.93245989e-01 -7.14050221e-03 -2.49006531e+01] [-2.40570042e-01 -2.10730217e-02 9.70403000e-01 4.41250167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60420609899998 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:19.04, Y:-24.92, Z:44.15 [[ 9.67603861e-01 7.73771319e-02 2.40323839e-01 1.90383512e+01] [-7.52433693e-02 9.97001708e-01 -1.80562946e-02 -2.49237744e+01] [-2.41000422e-01 -6.11435056e-04 9.70524818e-01 4.41500962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.63420609899998 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:19.05, Y:-24.95, Z:44.17 [[ 9.68838883e-01 3.11294892e-02 2.45727844e-01 1.90519978e+01] [-2.39216371e-02 9.99193070e-01 -3.22639776e-02 -2.49523689e+01] [-2.46533920e-01 2.53803838e-02 9.68801766e-01 4.41728513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.07, Y:-24.93, Z:44.19 [[ 9.67694560e-01 7.08939577e-02 2.41953063e-01 1.90679874e+01] [-6.81753248e-02 9.97480794e-01 -1.96007863e-02 -2.49305162e+01] [-2.42733111e-01 2.47234563e-03 9.70089957e-01 4.41934381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.69420609899998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:19.08, Y:-24.93, Z:44.22 [[ 9.66809772e-01 8.28161093e-02 2.41703035e-01 1.90833756e+01] [-8.11527468e-02 9.96559291e-01 -1.68466837e-02 -2.49260246e+01] [-2.42266582e-01 -3.32732676e-03 9.70204016e-01 4.42184397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72420609899999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:19.10, Y:-24.92, Z:44.24 [[ 9.67045917e-01 8.50903140e-02 2.39962149e-01 1.90970367e+01] [-8.39305534e-02 9.96357679e-01 -1.50677468e-02 -2.49248943e+01] [-2.40370249e-01 -5.56895293e-03 9.70665303e-01 4.42409771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.11, Y:-24.93, Z:44.27 [[ 9.67193763e-01 8.32729423e-02 2.40003838e-01 1.91084527e+01] [-8.22204953e-02 9.96509938e-01 -1.44129542e-02 -2.49269501e+01] [-2.40366419e-01 -5.79311506e-03 9.70664939e-01 4.42661700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78420609899999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:19.12, Y:-24.94, Z:44.29 [[ 9.69860038e-01 5.93892711e-02 2.36314241e-01 1.91234734e+01] [-5.59455378e-02 9.98207499e-01 -2.12576032e-02 -2.49423116e+01] [-2.37153121e-01 7.39617250e-03 9.71444128e-01 4.42886102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81420609899999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:19.14, Y:-24.92, Z:44.32 [[ 9.65892059e-01 1.04913113e-01 2.36739876e-01 1.91390451e+01] [-1.06474402e-01 9.94296005e-01 -6.21741300e-03 -2.49166928e+01] [-2.36041801e-01 -1.92013869e-02 9.71553177e-01 4.43152981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84420609899999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:19.15, Y:-24.95, Z:44.34 [[ 9.71021589e-01 5.20256472e-02 2.33260382e-01 1.91518973e+01] [-4.85950271e-02 9.98609517e-01 -2.04341860e-02 -2.49500749e+01] [-2.33999139e-01 8.50674119e-03 9.72199588e-01 4.43358754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:19.17, Y:-24.95, Z:44.36 [[ 9.70918411e-01 5.91275243e-02 2.31994342e-01 1.91667730e+01] [-5.63867711e-02 9.98238821e-01 -1.84333628e-02 -2.49462568e+01] [-2.32675677e-01 4.81587944e-03 9.72542460e-01 4.43623522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90420609899998 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:19.18, Y:-24.94, Z:44.39 [[ 9.70440423e-01 6.97188458e-02 2.31051224e-01 1.91825470e+01] [-6.79907160e-02 9.97566419e-01 -1.54435025e-02 -2.49423041e+01] [-2.31565645e-01 -7.22339007e-04 9.72819012e-01 4.43865890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93420609899998 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:19.20, Y:-24.94, Z:44.41 [[ 9.69968159e-01 7.70959040e-02 2.30690252e-01 1.91971012e+01] [-7.61599860e-02 9.97011214e-01 -1.29728908e-02 -2.49388583e+01] [-2.31000925e-01 -4.98607538e-03 9.72940754e-01 4.44078804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96420609899998 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:19.21, Y:-24.94, Z:44.43 [[ 9.69907256e-01 7.59046420e-02 2.31340444e-01 1.92105913e+01] [-7.45151598e-02 9.97110773e-01 -1.47511698e-02 -2.49418876e+01] [-2.31791731e-01 -2.93110351e-03 9.72761020e-01 4.44326208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99420609899998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:19.22, Y:-24.94, Z:44.46 [[ 9.70291955e-01 7.67531611e-02 2.29439480e-01 1.92245423e+01] [-7.57436228e-02 9.97039724e-01 -1.32170922e-02 -2.49416006e+01] [-2.29774730e-01 -4.55413925e-03 9.73233185e-01 4.44552780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02420609899998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:19.24, Y:-24.93, Z:44.48 [[ 9.68277036e-01 9.87591487e-02 2.29534773e-01 1.92402477e+01] [-1.00043420e-01 9.94964588e-01 -6.06491895e-03 -2.49288377e+01] [-2.28977937e-01 -1.70909219e-02 9.73281565e-01 4.44827707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.05420609899998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:19.25, Y:-24.95, Z:44.51 [[ 9.71432233e-01 6.93528825e-02 2.26957253e-01 1.92523304e+01] [-6.79281205e-02 9.97590694e-01 -1.40917483e-02 -2.49473037e+01] [-2.27387747e-01 -1.72760113e-03 9.73802766e-01 4.45086219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08420609899999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:19.27, Y:-24.95, Z:44.53 [[ 9.71377759e-01 6.99646202e-02 2.27002647e-01 1.92674363e+01] [-6.85232259e-02 9.97547976e-01 -1.42338767e-02 -2.49487527e+01] [-2.27441899e-01 -1.72848244e-03 9.73790118e-01 4.45326621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11420609899999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:19.28, Y:-24.95, Z:44.56 [[ 9.70492521e-01 7.63537174e-02 2.28723363e-01 1.92804311e+01] [-7.61342325e-02 9.97049449e-01 -9.79667574e-03 -2.49460190e+01] [-2.28796516e-01 -7.90607717e-03 9.73442165e-01 4.45554586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.29, Y:-24.95, Z:44.58 [[ 9.71487638e-01 6.68847422e-02 2.27460328e-01 1.92932986e+01] [-6.53334426e-02 9.97760285e-01 -1.43511075e-02 -2.49522835e+01] [-2.27910752e-01 -9.18842789e-04 9.73681593e-01 4.45826175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17420609899999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:19.31, Y:-24.95, Z:44.61 [[ 9.71253302e-01 6.85498997e-02 2.27964764e-01 1.93074351e+01] [-6.72333499e-02 9.97645327e-01 -1.35454003e-02 -2.49526096e+01] [-2.28356518e-01 -2.17081997e-03 9.73575158e-01 4.46071156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20420609899999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:19.32, Y:-24.95, Z:44.63 [[ 9.71347863e-01 6.71279984e-02 2.27985002e-01 1.93210182e+01] [-6.58519590e-02 9.97741983e-01 -1.32081610e-02 -2.49545857e+01] [-2.28356845e-01 -2.18354002e-03 9.73575053e-01 4.46320957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.23420609899999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:19.33, Y:-24.96, Z:44.66 [[ 9.70767588e-01 6.76823329e-02 2.30281113e-01 1.93341225e+01] [-6.64842286e-02 9.97703209e-01 -1.29673963e-02 -2.49560575e+01] [-2.30629869e-01 -2.72173410e-03 9.73037746e-01 4.46572875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26420609899999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:19.35, Y:-24.96, Z:44.68 [[ 9.70867749e-01 6.61730259e-02 2.30297513e-01 1.93477058e+01] [-6.50015645e-02 9.97804616e-01 -1.26785046e-02 -2.49580528e+01] [-2.30630897e-01 -2.66054742e-03 9.73037672e-01 4.46822676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29420609899998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:19.36, Y:-24.96, Z:44.71 [[ 9.70186950e-01 7.18236734e-02 2.31470605e-01 1.93616283e+01] [-7.08857925e-02 9.97407642e-01 -1.23774241e-02 -2.49565915e+01] [-2.31759543e-01 -4.39956195e-03 9.72763156e-01 4.47068430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32420609899998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:19.38, Y:-24.96, Z:44.73 [[ 9.70285642e-01 7.04636342e-02 2.31474941e-01 1.93752302e+01] [-6.95074720e-02 9.97505673e-01 -1.22940853e-02 -2.49583168e+01] [-2.31763853e-01 -4.16046355e-03 9.72763181e-01 4.47318316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35420609899998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:19.39, Y:-24.97, Z:44.75 [[ 9.71434051e-01 5.73681601e-02 2.30271097e-01 1.93900472e+01] [-5.55050841e-02 9.98352153e-01 -1.45658641e-02 -2.49668103e+01] [-2.30727263e-01 1.36855971e-03 9.73017501e-01 4.47533569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38420609899998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:19.40, Y:-24.96, Z:44.78 [[ 9.70687487e-01 7.09907622e-02 2.29621675e-01 1.94044894e+01] [-7.05050217e-02 9.97457937e-01 -1.03298473e-02 -2.49596766e+01] [-2.29771286e-01 -6.16242766e-03 9.73225144e-01 4.47774567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.41420609899998 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:19.42, Y:-24.94, Z:44.80 [[ 9.66633045e-01 1.10358921e-01 2.31174099e-01 1.94186766e+01] [-1.14009971e-01 9.93476580e-01 2.45184038e-03 -2.49368063e+01] [-2.29395471e-01 -2.87261823e-02 9.72909309e-01 4.48027766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44420609899998 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:19.43, Y:-24.97, Z:44.83 [[ 9.70601865e-01 6.08553547e-02 2.32870448e-01 1.94296850e+01] [-5.91473878e-02 9.98146588e-01 -1.43169722e-02 -2.49663135e+01] [-2.33310108e-01 1.22401191e-04 9.72402375e-01 4.48303994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.47420609899999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:19.45, Y:-24.96, Z:44.85 [[ 9.70991181e-01 6.85556231e-02 2.29076958e-01 1.94475162e+01] [-6.81483656e-02 9.97628063e-01 -9.69783910e-03 -2.49630049e+01] [-2.29198443e-01 -6.19470401e-03 9.73360005e-01 4.48509967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50420609899999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:19.46, Y:-24.96, Z:44.87 [[ 9.70465425e-01 7.83513311e-02 2.28162066e-01 1.94618881e+01] [-7.88714773e-02 9.96861244e-01 -6.85198778e-03 -2.49579896e+01] [-2.27982783e-01 -1.13458619e-02 9.73599056e-01 4.48749410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53420609899999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:19.47, Y:-24.95, Z:44.90 [[ 9.69529216e-01 8.59662277e-02 2.29396833e-01 1.94728751e+01] [-8.63829692e-02 9.96227895e-01 -8.24397488e-03 -2.49527259e+01] [-2.29240228e-01 -1.18232051e-02 9.73298068e-01 4.49034985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56420609899999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:19.49, Y:-24.96, Z:44.93 [[ 9.70479767e-01 7.49169873e-02 2.29251971e-01 1.94858615e+01] [-7.44283519e-02 9.97167989e-01 -1.07899267e-02 -2.49601515e+01] [-2.29411076e-01 -6.59144086e-03 9.73307306e-01 4.49286522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59420609899999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:19.50, Y:-24.96, Z:44.95 [[ 9.70120512e-01 7.03800159e-02 2.32191398e-01 1.94989323e+01] [-6.98419859e-02 9.97502302e-01 -1.05476979e-02 -2.49636117e+01] [-2.32353801e-01 -5.98417027e-03 9.72612925e-01 4.49538076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62420609899999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:19.51, Y:-24.97, Z:44.98 [[ 9.70227212e-01 6.88482519e-02 2.32204814e-01 1.95124469e+01] [-6.83369459e-02 9.97609589e-01 -1.02552215e-02 -2.49654663e+01] [-2.32355803e-01 -5.91827287e-03 9.72612849e-01 4.49788291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65420609899998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:19.53, Y:-24.98, Z:45.00 [[ 9.72497583e-01 4.80081264e-02 2.27911541e-01 1.95290343e+01] [-4.61018774e-02 9.98843021e-01 -1.36834563e-02 -2.49783185e+01] [-2.28304769e-01 2.79997828e-03 9.73585688e-01 4.50001252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68420609899998 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:19.54, Y:-24.97, Z:45.03 [[ 9.71449872e-01 6.81947596e-02 2.27232527e-01 1.95426574e+01] [-6.82339555e-02 9.97639693e-01 -7.69225991e-03 -2.49667782e+01] [-2.27220760e-01 -8.03232923e-03 9.73810150e-01 4.50252382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71420609899998 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:19.56, Y:-24.97, Z:45.05 [[ 9.72088557e-01 6.57283919e-02 2.25219040e-01 1.95578475e+01] [-6.57638427e-02 9.97808123e-01 -7.35303900e-03 -2.49694246e+01] [-2.25208691e-01 -7.66346445e-03 9.74280410e-01 4.50474161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74420609899998 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:19.57, Y:-24.97, Z:45.07 [[ 9.71977063e-01 6.45753553e-02 2.26032325e-01 1.95727296e+01] [-6.43712346e-02 9.97891659e-01 -8.28131516e-03 -2.49699439e+01] [-2.26090541e-01 -6.50073144e-03 9.74084600e-01 4.50727674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.77420609899998 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:19.59, Y:-24.97, Z:45.10 [[ 9.72114701e-01 6.70116745e-02 2.24727488e-01 1.95866838e+01] [-6.70489323e-02 9.97721690e-01 -7.47460154e-03 -2.49691584e+01] [-2.24716374e-01 -7.80156804e-03 9.74392984e-01 4.50966664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80420609899998 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:19.60, Y:-24.97, Z:45.12 [[ 9.72392925e-01 6.75101224e-02 2.23370504e-01 1.96005678e+01] [-6.73126484e-02 9.97695664e-01 -8.50700169e-03 -2.49703089e+01] [-2.23430092e-01 -6.76351194e-03 9.74696491e-01 4.51214801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.83420609899999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:19.61, Y:-24.97, Z:45.15 [[ 9.73187452e-01 6.49272859e-02 2.20659534e-01 1.96141597e+01] [-6.45520906e-02 9.97874483e-01 -8.91870504e-03 -2.49720629e+01] [-2.20769586e-01 -5.56446241e-03 9.75310118e-01 4.51451826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86420609899999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:19.62, Y:-24.96, Z:45.17 [[ 9.70696643e-01 8.31388139e-02 2.25468324e-01 1.96245704e+01] [-8.42057455e-02 9.96436352e-01 -4.89781436e-03 -2.49623160e+01] [-2.25072032e-01 -1.42314363e-02 9.74238188e-01 4.51727059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89420609899999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:19.64, Y:-24.97, Z:45.20 [[ 9.72041400e-01 6.79721058e-02 2.24756111e-01 1.96368323e+01] [-6.77780023e-02 9.97663462e-01 -8.58825199e-03 -2.49720129e+01] [-2.24814721e-01 -6.88538372e-03 9.74377202e-01 4.51967702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92420609899999 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:19.65, Y:-24.99, Z:45.22 [[ 9.74566058e-01 4.35555046e-02 2.19827016e-01 1.96537675e+01] [-4.15005802e-02 9.99040957e-01 -1.39595041e-02 -2.49871918e+01] [-2.20224206e-01 4.48151017e-03 9.75438986e-01 4.52194885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.95420609899999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:19.67, Y:-24.98, Z:45.24 [[ 9.74615421e-01 5.94834241e-02 2.15839070e-01 1.96675775e+01] [-5.91579799e-02 9.98216785e-01 -7.97387113e-03 -2.49783427e+01] [-2.15928496e-01 -4.99714563e-03 9.76396391e-01 4.52442755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98420609899999 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:19.68, Y:-24.97, Z:45.27 [[ 9.76231692e-01 7.10430176e-02 2.04754910e-01 1.96818861e+01] [-7.05842759e-02 9.97460077e-01 -9.55272212e-03 -2.49746535e+01] [-2.04913503e-01 -5.12680697e-03 9.78766659e-01 4.52681489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.69, Y:-24.95, Z:45.30 [[ 9.73779518e-01 1.06977648e-01 2.00771595e-01 1.96929999e+01] [-1.09909378e-01 9.93935521e-01 3.47965741e-03 -2.49539282e+01] [-1.99181775e-01 -2.54551003e-02 9.79631899e-01 4.52956711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.70, Y:-24.98, Z:45.32 [[ 9.77446847e-01 7.02785475e-02 1.99144641e-01 1.97048920e+01] [-7.02893864e-02 9.97501911e-01 -7.02427328e-03 -2.49755832e+01] [-1.99140815e-01 -7.13190083e-03 9.79944933e-01 4.53204353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.72, Y:-24.98, Z:45.35 [[ 9.77429064e-01 5.70127218e-02 2.03425601e-01 1.97161152e+01] [-5.60431877e-02 9.98372835e-01 -1.05282334e-02 -2.49840120e+01] [-2.03694837e-01 -1.11001784e-03 9.79033800e-01 4.53455349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.73, Y:-24.99, Z:45.37 [[ 9.77745334e-01 5.54070747e-02 2.02346529e-01 1.97299186e+01] [-5.43690093e-02 9.98463697e-01 -1.06891252e-02 -2.49853767e+01] [-2.02627916e-01 -5.50137980e-04 9.79255648e-01 4.53703298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.13420609899998 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:19.74, Y:-24.97, Z:45.40 [[ 9.77799985e-01 7.99729897e-02 1.93678887e-01 1.97416187e+01] [-8.12462443e-02 9.96693113e-01 -1.37315772e-03 -2.49713088e+01] [-1.93148228e-01 -1.43930085e-02 9.81064016e-01 4.53965717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16420609899998 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:19.75, Y:-24.99, Z:45.42 [[ 9.79874019e-01 4.23069412e-02 1.95082112e-01 1.97541255e+01] [-4.12155585e-02 9.99103655e-01 -9.65216437e-03 -2.49923660e+01] [-1.95315604e-01 1.41748690e-03 9.80739418e-01 4.54208621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.19420609899998 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:19.77, Y:-24.98, Z:45.45 [[ 9.79661018e-01 6.87278093e-02 1.88522621e-01 1.97699122e+01] [-7.01553906e-02 9.97535667e-01 9.02068193e-04 -2.49775819e+01] [-1.87996042e-01 -1.41095992e-02 9.82068433e-01 4.54461387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22420609899999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:19.78, Y:-24.99, Z:45.47 [[ 9.81002265e-01 4.68906740e-02 1.88244048e-01 1.97821395e+01] [-4.67094680e-02 9.98893915e-01 -5.40104772e-03 -2.49910083e+01] [-1.88289093e-01 -3.49433929e-03 9.82107432e-01 4.54716529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25420609899999 meters Centerline goodness : 0.999861 Centerline is valid? [True, True] Translation: X:19.79, Y:-25.00, Z:45.50 [[ 9.80522583e-01 2.87262542e-02 1.94294276e-01 1.97928772e+01] [-2.78253966e-02 9.99585668e-01 -7.36471652e-03 -2.50016653e+01] [-1.94425334e-01 1.81495558e-03 9.80915641e-01 4.54970323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28420609899999 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:19.81, Y:-25.00, Z:45.52 [[ 9.80070118e-01 4.07822448e-02 1.94420604e-01 1.98061652e+01] [-4.10074996e-02 9.99154723e-01 -2.86773898e-03 -2.49953509e+01] [-1.94373218e-01 -5.16211756e-03 9.80914066e-01 4.55214402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.82, Y:-25.00, Z:45.55 [[ 9.80856206e-01 2.81495381e-02 1.92688107e-01 1.98203792e+01] [-2.73513676e-02 9.99602741e-01 -6.80164893e-03 -2.50037100e+01] [-1.92803023e-01 1.40115632e-03 9.81236481e-01 4.55463869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34420609899999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:19.83, Y:-25.01, Z:45.57 [[ 9.81191013e-01 2.79849665e-02 1.91000100e-01 1.98333262e+01] [-2.74636141e-02 9.99608344e-01 -5.37672368e-03 -2.50050596e+01] [-1.91075761e-01 3.00399148e-05 9.81575291e-01 4.55696824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37420609899999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:19.85, Y:-25.00, Z:45.59 [[ 9.81235764e-01 3.21053887e-02 1.90120013e-01 1.98468334e+01] [-3.20323938e-02 9.99480850e-01 -3.45776724e-03 -2.50033151e+01] [-1.90132325e-01 -2.69711424e-03 9.81754768e-01 4.55942395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40420609899998 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:19.86, Y:-25.01, Z:45.62 [[ 9.81413847e-01 2.35275894e-02 1.90455543e-01 1.98611056e+01] [-2.28400953e-02 9.99722281e-01 -5.80434397e-03 -2.50080840e+01] [-1.90539212e-01 1.34644079e-03 9.81678662e-01 4.56200173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43420609899998 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:19.87, Y:-25.00, Z:45.65 [[ 9.81079437e-01 3.10589875e-02 1.91098086e-01 1.98711448e+01] [-3.13949580e-02 9.99506250e-01 -1.27005182e-03 -2.50035002e+01] [-1.91043178e-01 -4.75349465e-03 9.81570124e-01 4.56458271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46420609899998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:19.89, Y:-25.00, Z:45.67 [[ 9.82668749e-01 3.42689595e-02 1.82175102e-01 1.98890055e+01] [-3.50766510e-02 9.99383889e-01 1.21247464e-03 -2.50026133e+01] [-1.82021312e-01 -7.58155340e-03 9.83265357e-01 4.56695978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49420609899998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:19.90, Y:-25.01, Z:45.70 [[ 9.83136391e-01 1.75958039e-02 1.82025339e-01 1.99016489e+01] [-1.72496293e-02 9.99845141e-01 -3.48490392e-03 -2.50128920e+01] [-1.82058471e-01 2.86266246e-04 9.83287665e-01 4.56950064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52420609899998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:19.91, Y:-25.02, Z:45.72 [[ 9.81477135e-01 -2.99388423e-03 1.91555920e-01 1.99119878e+01] [ 4.55198563e-03 9.99960037e-01 -7.69438619e-03 -2.50245166e+01] [-1.91525229e-01 8.42382391e-03 9.81451540e-01 4.57209686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.55420609899998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:19.93, Y:-25.01, Z:45.74 [[ 9.82741977e-01 2.74943785e-02 1.82926941e-01 1.99288628e+01] [-2.82489171e-02 9.99599764e-01 1.51985476e-03 -2.50074983e+01] [-1.82811939e-01 -6.66111306e-03 9.83125335e-01 4.57446823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58420609899999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:19.94, Y:-25.04, Z:45.77 [[ 9.82070176e-01 -2.80307883e-02 1.86420073e-01 1.99432642e+01] [ 3.15033547e-02 9.99380477e-01 -1.56908131e-02 -2.50392394e+01] [-1.85864756e-01 2.12823372e-02 9.82344825e-01 4.57688810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61420609899999 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:19.95, Y:-25.01, Z:45.79 [[ 9.81284104e-01 2.55670369e-02 1.90860770e-01 1.99544825e+01] [-2.65150231e-02 9.99645499e-01 2.41431140e-03 -2.50086247e+01] [-1.90731383e-01 -7.42980312e-03 9.81614149e-01 4.57938481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64420609899999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:19.97, Y:-25.02, Z:45.82 [[ 9.81911990e-01 1.52479029e-02 1.88722934e-01 1.99688660e+01] [-1.55918716e-02 9.99878382e-01 3.38046396e-04 -2.50159329e+01] [-1.88694828e-01 -3.27447556e-03 9.82030315e-01 4.58183070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67420609899999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:19.98, Y:-25.02, Z:45.84 [[ 9.81402498e-01 1.26997958e-02 1.91540733e-01 1.99831772e+01] [-1.32549309e-02 9.99910842e-01 1.61719525e-03 -2.50154024e+01] [-1.91503118e-01 -4.12597863e-03 9.81483333e-01 4.58410158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70420609899999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:20.00, Y:-25.03, Z:45.86 [[ 9.81826854e-01 -1.10990149e-02 1.89454058e-01 2.00029290e+01] [ 1.23097382e-02 9.99910633e-01 -5.21502961e-03 -2.50293539e+01] [-1.89379246e-01 7.45238599e-03 9.81875737e-01 4.58614147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.73420609899999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:20.02, Y:-25.02, Z:45.89 [[ 9.82140364e-01 3.51786974e-04 1.88149361e-01 2.00163390e+01] [-6.20974326e-05 9.99998804e-01 -1.54557080e-03 -2.50231270e+01] [-1.88149679e-01 1.50628388e-03 9.82139211e-01 4.58856607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.03, Y:-25.02, Z:45.91 [[ 9.83043882e-01 7.40291637e-03 1.83220968e-01 2.00280894e+01] [-7.94431899e-03 9.99965977e-01 2.22108682e-03 -2.50202790e+01] [-1.83198291e-01 -3.63899163e-03 9.83069247e-01 4.59107282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.04, Y:-25.02, Z:45.93 [[ 9.83243230e-01 4.09978763e-03 1.82252412e-01 2.00418732e+01] [-4.41636384e-03 9.99989362e-01 1.33120777e-03 -2.50223779e+01] [-1.82245016e-01 -2.11379399e-03 9.83250877e-01 4.59347016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.05, Y:-25.03, Z:45.96 [[ 9.83353145e-01 -1.99683905e-03 1.81693712e-01 2.00540337e+01] [ 2.21858832e-03 9.99997022e-01 -1.01722118e-03 -2.50258979e+01] [-1.81691140e-01 1.40339120e-03 9.83354646e-01 4.59585586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.07, Y:-25.01, Z:45.98 [[ 9.83642808e-01 2.44828277e-02 1.78458449e-01 2.00716271e+01] [-2.59133695e-02 9.99648003e-01 5.68922213e-03 -2.50108972e+01] [-1.78256344e-01 -1.02206222e-02 9.83931001e-01 4.59838095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88420609899998 meters Centerline goodness : 0.999968 Centerline is valid? [True, True] Translation: X:20.09, Y:-25.03, Z:46.00 [[ 9.80966559e-01 -1.89193950e-03 1.94167532e-01 2.00897625e+01] [ 2.02229252e-03 9.99997843e-01 -4.73127086e-04 -2.50264068e+01] [-1.94166218e-01 8.56785398e-04 9.80968269e-01 4.60044093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.91420609899998 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:20.11, Y:-25.04, Z:46.03 [[ 9.79987959e-01 -3.08993278e-02 1.96643924e-01 2.01103099e+01] [ 3.27384858e-02 9.99445287e-01 -6.10816912e-03 -2.50399152e+01] [-1.96346104e-01 1.24237565e-02 9.80455944e-01 4.60257430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94420609899998 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:20.12, Y:-25.02, Z:46.05 [[ 9.81229093e-01 1.89008143e-02 1.91917238e-01 2.01219658e+01] [-2.03344815e-02 9.99778087e-01 5.50323106e-03 -2.50155188e+01] [-1.91770634e-01 -9.30246796e-03 9.81395684e-01 4.60539337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.97420609899999 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:20.13, Y:-25.03, Z:46.08 [[ 9.82000602e-01 -6.92687284e-03 1.88750725e-01 2.01337891e+01] [ 7.36028058e-03 9.99971640e-01 -1.59535052e-03 -2.50316433e+01] [-1.88734321e-01 2.95589347e-03 9.82023736e-01 4.60794543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00420609899999 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:20.15, Y:-25.03, Z:46.11 [[ 9.81983098e-01 -6.11991585e-03 1.88869642e-01 2.01455830e+01] [ 6.45621728e-03 9.99978479e-01 -1.16541814e-03 -2.50336678e+01] [-1.88858445e-01 2.36380436e-03 9.82001477e-01 4.61053128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03420609899999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:20.15, Y:-25.04, Z:46.13 [[ 9.80532993e-01 -4.51377602e-03 1.96302509e-01 2.01539056e+01] [ 4.79991537e-03 9.99987998e-01 -9.81920889e-04 -2.50350590e+01] [-1.96295720e-01 1.90504126e-03 9.80542891e-01 4.61323290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.16, Y:-25.02, Z:46.16 [[ 9.79513137e-01 1.99702235e-02 2.00387634e-01 2.01634845e+01] [-2.14605612e-02 9.99755819e-01 5.26756281e-03 -2.50220864e+01] [-2.00233509e-01 -9.46007806e-03 9.79702531e-01 4.61583816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09420609899999 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:20.18, Y:-25.04, Z:46.18 [[ 9.80285245e-01 -1.52045343e-02 1.97001677e-01 2.01773956e+01] [ 1.65047492e-02 9.99851486e-01 -4.95978442e-03 -2.50420150e+01] [-1.96897009e-01 8.11346676e-03 9.80390606e-01 4.61822580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12420609899999 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:20.19, Y:-25.03, Z:46.21 [[ 9.79987047e-01 6.71797651e-03 1.98947876e-01 2.01882615e+01] [-6.81886028e-03 9.99976735e-01 -1.78064109e-04 -2.50310131e+01] [-1.98944444e-01 -1.18209725e-03 9.80010057e-01 4.62076649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15420609899998 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:20.20, Y:-25.03, Z:46.23 [[ 9.79034555e-01 9.36700149e-03 2.03478743e-01 2.01974174e+01] [-9.80596405e-03 9.99951260e-01 1.14917512e-03 -2.50299809e+01] [-2.03458061e-01 -3.12038739e-03 9.79078690e-01 4.62337493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18420609899998 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:20.21, Y:-25.03, Z:46.26 [[ 9.79084918e-01 1.26967876e-02 2.03055449e-01 2.02089004e+01] [-1.30620129e-02 9.99914583e-01 4.58578181e-04 -2.50276420e+01] [-2.03032282e-01 -3.10129989e-03 9.79167133e-01 4.62589516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21420609899998 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:20.22, Y:-25.03, Z:46.28 [[ 9.78754166e-01 1.38389079e-02 2.04569710e-01 2.02206362e+01] [-1.42045329e-02 9.99899060e-01 3.18887600e-04 -2.50274783e+01] [-2.04544648e-01 -3.21792974e-03 9.78851946e-01 4.62845579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24420609899998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:20.23, Y:-25.03, Z:46.31 [[ 9.78624653e-01 1.29051024e-02 2.05249232e-01 2.02312840e+01] [-1.33531494e-02 9.99910524e-01 7.97925209e-04 -2.50278020e+01] [-2.05220569e-01 -3.52159293e-03 9.78709414e-01 4.63105224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.27420609899998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:20.24, Y:-25.03, Z:46.34 [[ 9.78420408e-01 1.46145735e-02 2.06106574e-01 2.02416051e+01] [-1.51165499e-02 9.99885368e-01 8.60927043e-04 -2.50276541e+01] [-2.06070366e-01 -3.95796890e-03 9.78529171e-01 4.63362928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30420609899998 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:20.25, Y:-25.03, Z:46.36 [[ 9.78368533e-01 1.09485969e-02 2.06579625e-01 2.02534882e+01] [-1.14737883e-02 9.99933270e-01 1.34440729e-03 -2.50302349e+01] [-2.06551121e-01 -3.68557669e-03 9.78428869e-01 4.63616801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.33420609899999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:20.26, Y:-25.02, Z:46.39 [[ 9.76708956e-01 2.35583505e-02 2.13271233e-01 2.02636598e+01] [-2.48913631e-02 9.99683799e-01 3.56689451e-03 -2.50233860e+01] [-2.13119766e-01 -8.79242951e-03 9.76986519e-01 4.63878776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36420609899999 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:20.28, Y:-25.02, Z:46.41 [[ 9.76201323e-01 2.40945311e-02 2.15523621e-01 2.02753134e+01] [-2.57204690e-02 9.99657926e-01 4.74225019e-03 -2.50228194e+01] [-2.15335634e-01 -1.01727595e-02 9.76487112e-01 4.64130534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39420609899999 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:20.29, Y:-25.02, Z:46.44 [[ 9.76336101e-01 2.39406225e-02 2.14929442e-01 2.02876858e+01] [-2.55650922e-02 9.99661726e-01 4.78109640e-03 -2.50228229e+01] [-2.14742274e-01 -1.01626480e-02 9.76617876e-01 4.64372597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42420609899999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:20.30, Y:-25.03, Z:46.46 [[ 9.76837745e-01 1.88844449e-02 2.13146425e-01 2.03000426e+01] [-1.99285900e-02 9.99797621e-01 2.75104699e-03 -2.50262934e+01] [-2.13051337e-01 -6.93503426e-03 9.77016393e-01 4.64625421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.45420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.32, Y:-25.01, Z:46.49 [[ 9.76791332e-01 5.30822374e-02 2.07511375e-01 2.03166857e+01] [-5.71039219e-02 9.98277846e-01 1.34344167e-02 -2.50070444e+01] [-2.06440880e-01 -2.49723351e-02 9.78140351e-01 4.64854359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48420609899999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:20.32, Y:-25.03, Z:46.51 [[ 9.77258341e-01 1.54353398e-02 2.11489679e-01 2.03247092e+01] [-1.62080426e-02 9.99866797e-01 1.92047702e-03 -2.50281378e+01] [-2.11431865e-01 -5.30463591e-03 9.77378344e-01 4.65131777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51420609899998 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:20.34, Y:-25.03, Z:46.54 [[ 9.77250326e-01 1.44220135e-02 2.11598218e-01 2.03384660e+01] [-1.50066867e-02 9.99886723e-01 1.15742786e-03 -2.50283608e+01] [-2.11557556e-01 -4.30648492e-03 9.77356053e-01 4.65385842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54420609899998 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:20.35, Y:-25.03, Z:46.56 [[ 9.77533382e-01 1.34538616e-02 2.10350849e-01 2.03490072e+01] [-1.41971824e-02 9.99897167e-01 2.02395959e-03 -2.50275474e+01] [-2.10301988e-01 -4.96487744e-03 9.77623866e-01 4.65646114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57420609899998 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:20.36, Y:-25.02, Z:46.59 [[ 9.78015486e-01 2.10521065e-02 2.07466908e-01 2.03645419e+01] [-2.22689117e-02 9.99745781e-01 3.53109770e-03 -2.50230498e+01] [-2.07339829e-01 -8.07353049e-03 9.78235664e-01 4.65877048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60420609899998 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:20.38, Y:-25.02, Z:46.61 [[ 9.78241751e-01 2.49945736e-02 2.05957150e-01 2.03779540e+01] [-2.65197666e-02 9.99637485e-01 4.64771537e-03 -2.50207539e+01] [-2.05766320e-01 -1.00085248e-02 9.78549974e-01 4.66129088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.63420609899998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:20.39, Y:-25.02, Z:46.64 [[ 9.78512775e-01 2.77160454e-02 2.04314879e-01 2.03902044e+01] [-2.91707581e-02 9.99565989e-01 4.11102281e-03 -2.50201724e+01] [-2.04112263e-01 -9.98270824e-03 9.78896588e-01 4.66375725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66420609899998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:20.40, Y:-25.03, Z:46.66 [[ 9.79713289e-01 7.76103923e-03 2.00253933e-01 2.04047912e+01] [-7.60266391e-03 9.99969883e-01 -1.55989259e-03 -2.50319663e+01] [-2.00260008e-01 5.78414491e-06 9.79742787e-01 4.66618468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.69420609899998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:20.42, Y:-25.02, Z:46.69 [[ 9.79889513e-01 2.36714656e-02 1.98131784e-01 2.04179873e+01] [-2.47280638e-02 9.99690124e-01 2.85991473e-03 -2.50228830e+01] [-1.98002689e-01 -7.70181585e-03 9.80171218e-01 4.66857295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72420609899999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:20.43, Y:-25.02, Z:46.71 [[ 9.80315436e-01 2.69561450e-02 1.95588888e-01 2.04307735e+01] [-2.85314262e-02 9.99579159e-01 5.24056710e-03 -2.50210834e+01] [-1.95365310e-01 -1.07178387e-02 9.80671975e-01 4.67087663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75420609899999 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:20.44, Y:-25.03, Z:46.73 [[ 9.81056021e-01 6.37930873e-03 1.93619183e-01 2.04438473e+01] [-6.50416131e-03 9.99978848e-01 9.15622158e-06 -2.50327821e+01] [-1.93615029e-01 -1.26831316e-03 9.81076761e-01 4.67339085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78420609899999 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:20.46, Y:-25.03, Z:46.76 [[ 9.82408936e-01 1.69149536e-02 1.85974641e-01 2.04584794e+01] [-1.78818476e-02 9.99833901e-01 3.52275312e-03 -2.50269745e+01] [-1.85884164e-01 -6.78635433e-03 9.82548229e-01 4.67589737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81420609899999 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:20.47, Y:-25.03, Z:46.78 [[ 9.82872980e-01 1.51243019e-02 1.83662629e-01 2.04717068e+01] [-1.60405165e-02 9.99865203e-01 3.50385427e-03 -2.50281058e+01] [-1.83584878e-01 -6.38988712e-03 9.82983093e-01 4.67838277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84420609899999 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:20.48, Y:-25.04, Z:46.81 [[ 9.83235181e-01 -2.39113208e-03 1.82326252e-01 2.04827477e+01] [ 2.42450775e-03 9.99997060e-01 3.98392569e-05 -2.50371462e+01] [-1.82325811e-01 4.02880051e-04 9.83238087e-01 4.68094234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87420609899999 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:20.50, Y:-25.03, Z:46.83 [[ 9.83724247e-01 6.85776673e-03 1.79553829e-01 2.04960924e+01] [-7.45794812e-03 9.99968630e-01 2.66779490e-03 -2.50317622e+01] [-1.79529902e-01 -3.96347767e-03 9.83744533e-01 4.68339867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90420609899998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:20.51, Y:-25.03, Z:46.86 [[ 9.84300176e-01 1.65801327e-02 1.75722119e-01 2.05095796e+01] [-1.78368364e-02 9.99825371e-01 5.57450537e-03 -2.50267760e+01] [-1.75599006e-01 -8.62131330e-03 9.84424025e-01 4.68576893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.52, Y:-25.04, Z:46.88 [[ 9.85254344e-01 -1.37326927e-03 1.71090597e-01 2.05225550e+01] [ 1.11292099e-03 9.99998072e-01 1.61760138e-03 -2.50373628e+01] [-1.71092489e-01 -1.40333847e-03 9.85253973e-01 4.68761860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96420609899998 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:20.53, Y:-25.03, Z:46.90 [[ 9.85119959e-01 1.20614112e-02 1.71444422e-01 2.05345510e+01] [-1.31343668e-02 9.99900605e-01 5.12536074e-03 -2.50283448e+01] [-1.71365562e-01 -7.30090909e-03 9.85180461e-01 4.69045867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99420609899998 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:20.55, Y:-25.04, Z:46.93 [[ 9.85902591e-01 -7.45917004e-03 1.67153946e-01 2.05452728e+01] [ 7.66396945e-03 9.99970463e-01 -5.80169446e-04 -2.50395564e+01] [-1.67144681e-01 1.85305329e-03 9.85930637e-01 4.69281466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02420609899998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:20.56, Y:-25.03, Z:46.95 [[ 9.86447783e-01 2.50751946e-03 1.64056344e-01 2.05576254e+01] [-3.14016495e-03 9.99988600e-01 3.59704391e-03 -2.50332008e+01] [-1.64045454e-01 -4.06345997e-03 9.86444412e-01 4.69509816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.05420609899998 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:20.57, Y:-25.05, Z:46.97 [[ 9.87171872e-01 -3.47308524e-02 1.55837938e-01 2.05717588e+01] [ 3.60569761e-02 9.99333537e-01 -5.69005844e-03 -2.50536381e+01] [-1.55536457e-01 1.12361104e-02 9.87766248e-01 4.69683341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08420609899999 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:20.59, Y:-25.02, Z:47.00 [[ 9.87974505e-01 2.52541223e-02 1.52540511e-01 2.05859652e+01] [-2.73464478e-02 9.99558316e-01 1.16337968e-02 -2.50197427e+01] [-1.52179334e-01 -1.56653358e-02 9.88228742e-01 4.69973288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11420609899999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:20.60, Y:-25.00, Z:47.02 [[ 9.87845591e-01 5.58217658e-02 1.45069014e-01 2.05997348e+01] [-5.94294012e-02 9.98018868e-01 2.06515255e-02 -2.50019390e+01] [-1.43628808e-01 -2.90218830e-02 9.89205993e-01 4.70234142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14420609899999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:20.61, Y:-25.06, Z:47.05 [[ 9.87644803e-01 -5.46065394e-02 1.46887266e-01 2.06112339e+01] [ 5.66396277e-02 9.98347651e-01 -9.69126568e-03 -2.50635754e+01] [-1.46115351e-01 1.78911683e-02 9.89105763e-01 4.70497560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17420609899999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:20.62, Y:-25.02, Z:47.08 [[ 9.89544245e-01 2.15917559e-02 1.42604286e-01 2.06227172e+01] [-2.38932600e-02 9.99610133e-01 1.44462698e-02 -2.50208398e+01] [-1.42236769e-01 -1.77025044e-02 9.89674352e-01 4.70767812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20420609899999 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:20.63, Y:-25.06, Z:47.10 [[ 9.88799356e-01 -4.74372417e-02 1.41511633e-01 2.06349802e+01] [ 4.87304012e-02 9.98795790e-01 -5.68484661e-03 -2.50598360e+01] [-1.41071550e-01 1.25170913e-02 9.89920270e-01 4.70993182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.23420609899999 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:20.65, Y:-25.04, Z:47.13 [[ 9.90193992e-01 -1.61653279e-02 1.38760734e-01 2.06481019e+01] [ 1.60542332e-02 9.99869279e-01 1.91992006e-03 -2.50435551e+01] [-1.38773631e-01 3.26603870e-04 9.90324075e-01 4.71265546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26420609899998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:20.66, Y:-25.03, Z:47.15 [[ 9.90540926e-01 4.63442116e-03 1.37139333e-01 2.06592912e+01] [-5.90328937e-03 9.99943438e-01 8.84713856e-03 -2.50310819e+01] [-1.37090575e-01 -9.57302599e-03 9.90512257e-01 4.71519179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29420609899998 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:20.67, Y:-25.03, Z:47.18 [[ 9.90263658e-01 1.26392930e-02 1.38629495e-01 2.06689778e+01] [-1.41840537e-02 9.99847774e-01 1.01607810e-02 -2.50254372e+01] [-1.38479967e-01 -1.20281804e-02 9.90292190e-01 4.71802834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32420609899998 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:20.68, Y:-25.04, Z:47.21 [[ 9.90440025e-01 -1.55329571e-02 1.37066718e-01 2.06794626e+01] [ 1.51232694e-02 9.99877516e-01 4.02988551e-03 -2.50395505e+01] [-1.37112525e-01 -1.91846300e-03 9.90553620e-01 4.72059717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35420609899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:20.69, Y:-25.05, Z:47.23 [[ 9.89883490e-01 -4.13451180e-02 1.35724931e-01 2.06939656e+01] [ 4.20663741e-02 9.99111816e-01 -2.44916927e-03 -2.50540493e+01] [-1.35503121e-01 8.13384793e-03 9.90743531e-01 4.72295429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38420609899998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:20.71, Y:-25.04, Z:47.25 [[ 9.90669611e-01 -2.29355507e-02 1.34341660e-01 2.07055865e+01] [ 2.24269905e-02 9.99734446e-01 5.29785084e-03 -2.50429410e+01] [-1.34427494e-01 -2.23554071e-03 9.90920911e-01 4.72526083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.41420609899998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:20.72, Y:-25.05, Z:47.28 [[ 9.90708420e-01 -2.77456320e-02 1.33142805e-01 2.07183163e+01] [ 2.75708572e-02 9.99614868e-01 3.15650471e-03 -2.50460393e+01] [-1.33179107e-01 5.43685474e-04 9.91091837e-01 4.72802278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44420609899998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:20.73, Y:-25.04, Z:47.30 [[ 9.91092743e-01 -2.45437130e-02 1.30892251e-01 2.07299538e+01] [ 2.40851776e-02 9.99696976e-01 5.08533543e-03 -2.50442291e+01] [-1.30977401e-01 -1.88747592e-03 9.91383557e-01 4.73037960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.47420609899999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:20.74, Y:-25.04, Z:47.33 [[ 9.91231877e-01 -2.58319819e-02 1.29584235e-01 2.07414230e+01] [ 2.54234178e-02 9.99665218e-01 4.80638466e-03 -2.50446399e+01] [-1.29665011e-01 -1.46976753e-03 9.91556768e-01 4.73289834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50420609899999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:20.75, Y:-25.05, Z:47.36 [[ 9.91312892e-01 -3.32942553e-02 1.27240888e-01 2.07527656e+01] [ 3.28033917e-02 9.99444102e-01 5.95187672e-03 -2.50496905e+01] [-1.27368319e-01 -1.72623942e-03 9.91853987e-01 4.73554373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.77, Y:-25.06, Z:47.38 [[ 9.89958666e-01 -5.07263345e-02 1.31941952e-01 2.07668647e+01] [ 5.07315825e-02 9.98706793e-01 3.32392507e-03 -2.50597044e+01] [-1.31939935e-01 3.40307561e-03 9.91251871e-01 4.73803355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56420609899999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:20.77, Y:-25.04, Z:47.41 [[ 9.91388418e-01 -1.73206327e-02 1.29803698e-01 2.07738036e+01] [ 1.57223343e-02 9.99787565e-01 1.33279179e-02 -2.50419911e+01] [-1.30006971e-01 -1.11723263e-02 9.91450133e-01 4.74091500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.59420609899999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:20.79, Y:-25.06, Z:47.44 [[ 9.90279422e-01 -4.96223056e-02 1.29939576e-01 2.07850250e+01] [ 4.93901621e-02 9.98766993e-01 5.01048112e-03 -2.50598910e+01] [-1.30027991e-01 1.45596035e-03 9.91509255e-01 4.74355878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62420609899999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:20.80, Y:-25.08, Z:47.46 [[ 9.88480264e-01 -8.01111799e-02 1.28409372e-01 2.08007082e+01] [ 8.12741185e-02 9.96684413e-01 -3.83381500e-03 -2.50769950e+01] [-1.27676488e-01 1.42260090e-02 9.91713837e-01 4.74586609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65420609899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:20.81, Y:-25.05, Z:47.49 [[ 9.91020124e-01 -3.89588930e-02 1.27911372e-01 2.08079059e+01] [ 3.80656726e-02 9.99230827e-01 9.42120484e-03 -2.50527030e+01] [-1.28180025e-01 -4.46757119e-03 9.91740854e-01 4.74859767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68420609899998 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:20.82, Y:-25.05, Z:47.51 [[ 9.91406763e-01 -3.52035576e-02 1.25989443e-01 2.08178262e+01] [ 3.42294269e-02 9.99365075e-01 9.88908760e-03 -2.50505611e+01] [-1.26257580e-01 -5.49156190e-03 9.91982291e-01 4.75137611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71420609899998 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:20.83, Y:-25.08, Z:47.54 [[ 9.88719755e-01 -8.37766350e-02 1.24156034e-01 2.08338036e+01] [ 8.45955566e-02 9.96414484e-01 -1.32933931e-03 -2.50767173e+01] [-1.23599503e-01 1.18173928e-02 9.92261816e-01 4.75358922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74420609899998 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:20.84, Y:-25.06, Z:47.56 [[ 9.91647902e-01 -5.02641161e-02 1.18776925e-01 2.08449120e+01] [ 4.97631761e-02 9.98735226e-01 7.18148077e-03 -2.50578556e+01] [-1.18987669e-01 -1.21078331e-03 9.92894994e-01 4.75614246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.77420609899998 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:20.86, Y:-25.06, Z:47.59 [[ 9.91412213e-01 -5.66756861e-02 1.17854535e-01 2.08557617e+01] [ 5.63873659e-02 9.98392224e-01 5.78205282e-03 -2.50611598e+01] [-1.17992753e-01 9.13108986e-04 9.93014036e-01 4.75862092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80420609899998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:20.87, Y:-25.07, Z:47.61 [[ 9.90775449e-01 -6.85273198e-02 1.16910293e-01 2.08674720e+01] [ 6.85811021e-02 9.97639166e-01 3.56740142e-03 -2.50677367e+01] [-1.16878752e-01 4.48334302e-03 9.93136072e-01 4.76117972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.83420609899999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:20.88, Y:-25.06, Z:47.64 [[ 9.91323881e-01 -6.27435251e-02 1.15499838e-01 2.08784922e+01] [ 6.24918525e-02 9.98028608e-01 5.80232162e-03 -2.50644388e+01] [-1.15636201e-01 1.46581888e-03 9.93290552e-01 4.76373033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86420609899999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:20.89, Y:-25.06, Z:47.66 [[ 9.91214684e-01 -6.26333840e-02 1.16492526e-01 2.08894822e+01] [ 6.22696808e-02 9.98036450e-01 6.76247905e-03 -2.50631274e+01] [-1.16687344e-01 5.50883877e-04 9.93168546e-01 4.76629961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89420609899999 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:20.90, Y:-25.06, Z:47.69 [[ 9.91390581e-01 -6.28012922e-02 1.14894359e-01 2.09006259e+01] [ 6.24474661e-02 9.98025898e-01 6.67993096e-03 -2.50627179e+01] [-1.15087054e-01 5.52440969e-04 9.93355256e-01 4.76881684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92420609899999 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:20.91, Y:-25.05, Z:47.72 [[ 9.92727666e-01 -4.20203294e-02 1.12809900e-01 2.09080901e+01] [ 4.07938993e-02 9.99080926e-01 1.31591034e-02 -2.50510415e+01] [-1.13259170e-01 -8.46145032e-03 9.93529448e-01 4.77170695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.95420609899999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:20.92, Y:-25.07, Z:47.74 [[ 9.91565451e-01 -6.86883925e-02 1.09908423e-01 2.09189729e+01] [ 6.84797738e-02 9.97636357e-01 5.67617912e-03 -2.50660383e+01] [-1.10038526e-01 1.89820083e-03 9.93925510e-01 4.77431523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98420609899999 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:20.93, Y:-25.07, Z:47.77 [[ 9.91294904e-01 -7.12247956e-02 1.10731398e-01 2.09302622e+01] [ 7.09990962e-02 9.97458424e-01 5.98502394e-03 -2.50671559e+01] [-1.10876248e-01 1.92890548e-03 9.93832348e-01 4.77686925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01420609899998 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:20.94, Y:-25.07, Z:47.80 [[ 9.91153398e-01 -7.31641201e-02 1.10733703e-01 2.09408793e+01] [ 7.29567817e-02 9.97317482e-01 5.92858289e-03 -2.50679127e+01] [-1.10870417e-01 2.20263952e-03 9.93832430e-01 4.77951552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04420609899998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:20.96, Y:-25.08, Z:47.82 [[ 9.89667133e-01 -9.15488830e-02 1.10352920e-01 2.09553935e+01] [ 9.22347761e-02 9.95736662e-01 -1.11594066e-03 -2.50775751e+01] [-1.09780285e-01 1.12827867e-02 9.93891839e-01 4.78189359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07420609899998 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:20.97, Y:-25.07, Z:47.84 [[ 9.91140177e-01 -7.72630601e-02 1.08035035e-01 2.09658741e+01] [ 7.71184690e-02 9.97006644e-01 5.52201671e-03 -2.50674983e+01] [-1.08138296e-01 2.85840391e-03 9.94131751e-01 4.78440723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10420609899998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:20.97, Y:-25.05, Z:47.87 [[ 9.93222994e-01 -4.49502974e-02 1.07180008e-01 2.09740650e+01] [ 4.36732602e-02 9.98944467e-01 1.42336677e-02 -2.50483259e+01] [-1.07706683e-01 -9.45630574e-03 9.94137741e-01 4.78721104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.13420609899998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:20.99, Y:-25.06, Z:47.90 [[ 9.91386160e-01 -7.48543681e-02 1.07472348e-01 2.09851699e+01] [ 7.45977482e-02 9.97193093e-01 6.41173104e-03 -2.50645378e+01] [-1.07650630e-01 1.66069377e-03 9.94187399e-01 4.78987002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16420609899998 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:21.00, Y:-25.08, Z:47.92 [[ 9.88546026e-01 -1.07716955e-01 1.05706253e-01 2.09994506e+01] [ 1.08447026e-01 9.94101545e-01 -1.16629800e-03 -2.50814549e+01] [-1.04957119e-01 1.26164680e-02 9.94396716e-01 4.79230880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.19420609899998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:21.01, Y:-25.06, Z:47.95 [[ 9.92621131e-01 -5.89148809e-02 1.05982677e-01 2.10052507e+01] [ 5.78126164e-02 9.98236907e-01 1.34454407e-02 -2.50551902e+01] [-1.06587956e-01 -7.21909273e-03 9.94277070e-01 4.79510035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22420609899999 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:21.02, Y:-25.07, Z:47.98 [[ 9.90944575e-01 -8.03077703e-02 1.07608140e-01 2.10172590e+01] [ 8.00308095e-02 9.96768530e-01 6.89689172e-03 -2.50671171e+01] [-1.07814282e-01 1.77752913e-03 9.94169463e-01 4.79768988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25420609899999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:21.03, Y:-25.07, Z:48.00 [[ 9.90652401e-01 -8.48575853e-02 1.06803604e-01 2.10279811e+01] [ 8.45822392e-02 9.96391110e-01 7.11347876e-03 -2.50697477e+01] [-1.07021794e-01 1.98670318e-03 9.94254690e-01 4.80026672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28420609899999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:21.04, Y:-25.07, Z:48.03 [[ 9.92019769e-01 -6.77487751e-02 1.06333821e-01 2.10398905e+01] [ 6.73592574e-02 9.97702412e-01 7.25452498e-03 -2.50672933e+01] [-1.06580995e-01 -3.40649872e-05 9.94304023e-01 4.80277112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31420609899999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:21.05, Y:-25.08, Z:48.05 [[ 9.89877609e-01 -9.35870306e-02 1.06694827e-01 2.10465999e+01] [ 9.41309850e-02 9.95559819e-01 -6.24878821e-05 -2.50819364e+01] [-1.06215235e-01 1.01051446e-02 9.94291813e-01 4.80546527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34420609899999 meters Centerline goodness : 0.999965 Centerline is valid? [True, True] Translation: X:21.06, Y:-25.06, Z:48.08 [[ 9.93357788e-01 -4.57983627e-02 1.05559535e-01 2.10557323e+01] [ 4.46016668e-02 9.98911307e-01 1.36708565e-02 -2.50553768e+01] [-1.06070716e-01 -8.87192051e-03 9.94319009e-01 4.80799296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37420609899999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:21.07, Y:-25.06, Z:48.11 [[ 9.93306446e-01 -5.86208688e-02 9.95283808e-02 2.10673846e+01] [ 5.79804614e-02 9.98274238e-01 9.31731320e-03 -2.50634351e+01] [-9.99028075e-02 -3.48424582e-03 9.94991100e-01 4.81064957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40420609899998 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:21.08, Y:-25.09, Z:48.13 [[ 9.89543437e-01 -1.02758222e-01 1.01215285e-01 2.10821321e+01] [ 1.03611748e-01 9.94612677e-01 -3.19808563e-03 -2.50863776e+01] [-1.00341376e-01 1.36517373e-02 9.94859406e-01 4.81302765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43420609899998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:21.09, Y:-25.05, Z:48.16 [[ 9.94210822e-01 -3.23943637e-02 1.02447292e-01 2.10869926e+01] [ 3.06887686e-02 9.99363614e-01 1.81814712e-02 -2.50470689e+01] [-1.02971073e-01 -1.49322342e-02 9.94572263e-01 4.81585280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46420609899998 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:21.10, Y:-25.05, Z:48.18 [[ 9.93692158e-01 -4.75536824e-02 1.01560537e-01 2.10993613e+01] [ 4.65275052e-02 9.98839415e-01 1.24504587e-02 -2.50543609e+01] [-1.02034732e-01 -7.64656479e-03 9.94751448e-01 4.81829870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49420609899998 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:21.11, Y:-25.04, Z:48.21 [[ 9.94331966e-01 -2.68785254e-02 1.02866347e-01 2.11062430e+01] [ 2.53493847e-02 9.99548287e-01 1.61440594e-02 -2.50423009e+01] [-1.03253809e-01 -1.34449557e-02 9.94564168e-01 4.82089959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52420609899998 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:21.12, Y:-25.05, Z:48.23 [[ 9.94169438e-01 -3.95905185e-02 1.00298149e-01 2.11167414e+01] [ 3.85273547e-02 9.99179163e-01 1.25157101e-02 -2.50477600e+01] [-1.00711324e-01 -8.57851407e-03 9.94878705e-01 4.82341344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.55420609899998 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:21.13, Y:-25.05, Z:48.26 [[ 9.94237149e-01 -4.01538426e-02 9.93989967e-02 2.11278117e+01] [ 3.92964545e-02 9.99171695e-01 1.05694033e-02 -2.50471793e+01] [-9.97410662e-02 -6.60246526e-03 9.94991521e-01 4.82597970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58420609899999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:21.14, Y:-25.05, Z:48.28 [[ 9.94314961e-01 -3.97372528e-02 9.87861830e-02 2.11379565e+01] [ 3.88971054e-02 9.99188922e-01 1.04169317e-02 -2.50461585e+01] [-9.91200000e-02 -6.51521450e-03 9.95054158e-01 4.82849960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61420609899999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:21.16, Y:-25.07, Z:48.31 [[ 9.91934127e-01 -8.47823631e-02 9.42265257e-02 2.11563144e+01] [ 8.54072132e-02 9.96342707e-01 -2.61115808e-03 -2.50712011e+01] [-9.36605315e-02 1.06377218e-02 9.95547359e-01 4.83092715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64420609899999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:21.16, Y:-25.04, Z:48.34 [[ 9.95621150e-01 -2.72887046e-02 8.94083496e-02 2.11634587e+01] [ 2.63464813e-02 9.99584378e-01 1.17019133e-02 -2.50378447e+01] [-8.96905196e-02 -9.29507691e-03 9.95926309e-01 4.83398223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.17, Y:-25.06, Z:48.36 [[ 9.93169202e-01 -6.70168949e-02 9.55179152e-02 2.11741589e+01] [ 6.68319324e-02 9.97751019e-01 5.13786570e-03 -2.50587213e+01] [-9.56474210e-02 1.28087687e-03 9.95414451e-01 4.83626759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70420609899999 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:21.18, Y:-25.05, Z:48.39 [[ 9.94022666e-01 -4.93536087e-02 9.73815205e-02 2.11830413e+01] [ 4.87533943e-02 9.98774380e-01 8.53489358e-03 -2.50486017e+01] [-9.76833956e-02 -3.73619800e-03 9.95210528e-01 4.83905768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.73420609899999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:21.19, Y:-25.05, Z:48.41 [[ 9.94209255e-01 -4.70174250e-02 9.66298074e-02 2.11928621e+01] [ 4.63852946e-02 9.98885045e-01 8.77900394e-03 -2.50460476e+01] [-9.69348357e-02 -4.24596488e-03 9.95281673e-01 4.84144859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76420609899998 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:21.20, Y:-25.04, Z:48.44 [[ 9.94426298e-01 -4.29857773e-02 9.62733642e-02 2.12027992e+01] [ 4.21486057e-02 9.99053910e-01 1.07135238e-02 -2.50425970e+01] [-9.66428101e-02 -6.59602175e-03 9.95297272e-01 4.84422013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79420609899998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:21.22, Y:-25.04, Z:48.47 [[ 9.94836493e-01 -3.90483490e-02 9.36780535e-02 2.12150734e+01] [ 3.80626471e-02 9.99199816e-01 1.22866859e-02 -2.50389150e+01] [-9.40828686e-02 -8.65760886e-03 9.95526725e-01 4.84666091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82420609899998 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:21.22, Y:-25.04, Z:48.49 [[ 9.94683876e-01 -3.84247587e-02 9.55380766e-02 2.12238767e+01] [ 3.74999440e-02 9.99230945e-01 1.14574031e-02 -2.50367244e+01] [-9.59048506e-02 -7.81382160e-03 9.95359836e-01 4.84916393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85420609899998 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:21.24, Y:-25.03, Z:48.52 [[ 9.95647064e-01 -3.00260945e-02 8.82346756e-02 2.12368159e+01] [ 2.92170773e-02 9.99518501e-01 1.04464571e-02 -2.50316435e+01] [-8.85058570e-02 -7.82302505e-03 9.96044936e-01 4.85177606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88420609899998 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:21.25, Y:-25.04, Z:48.54 [[ 9.95239099e-01 -4.04219947e-02 8.86859508e-02 2.12471911e+01] [ 3.99942339e-02 9.99178141e-01 6.59572610e-03 -2.50365659e+01] [-8.88796759e-02 -3.01739784e-03 9.96037800e-01 4.85447747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.91420609899998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:21.26, Y:-25.04, Z:48.57 [[ 9.95288774e-01 -3.81285993e-02 8.91429504e-02 2.12579995e+01] [ 3.77918253e-02 9.99270699e-01 5.46327584e-03 -2.50351234e+01] [-8.92862454e-02 -2.06866230e-03 9.96003859e-01 4.85716124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94420609899998 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:21.27, Y:-25.03, Z:48.60 [[ 9.95297633e-01 -3.26532690e-02 9.11942189e-02 2.12668727e+01] [ 3.19047213e-02 9.99444286e-01 9.65444465e-03 -2.50301073e+01] [-9.14587901e-02 -6.69951978e-03 9.95786326e-01 4.85967612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.97420609899999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:21.28, Y:-25.03, Z:48.62 [[ 9.95540595e-01 -3.67422292e-02 8.68845948e-02 2.12787999e+01] [ 3.62298868e-02 9.99315586e-01 7.46690691e-03 -2.50325964e+01] [-8.70994806e-02 -4.28578991e-03 9.96190400e-01 4.86227012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00420609899999 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:21.29, Y:-25.03, Z:48.64 [[ 9.96287571e-01 -3.11035254e-02 8.02723280e-02 2.12889181e+01] [ 3.02703807e-02 9.99474719e-01 1.15753870e-02 -2.50281569e+01] [-8.05901979e-02 -9.10254023e-03 9.96705756e-01 4.86445699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03420609899999 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:21.30, Y:-25.03, Z:48.68 [[ 9.96310275e-01 -3.54310459e-02 7.81695366e-02 2.13002457e+01] [ 3.51038216e-02 9.99368223e-01 5.55668122e-03 -2.50297880e+01] [-7.83170299e-02 -2.79212912e-03 9.96924594e-01 4.86760251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06420609899999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:21.31, Y:-25.03, Z:48.70 [[ 9.96207276e-01 -3.47536136e-02 7.97699748e-02 2.13090718e+01] [ 3.43640820e-02 9.99389830e-01 6.25121704e-03 -2.50301437e+01] [-7.99385539e-02 -3.48628595e-03 9.96793697e-01 4.87020989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.09420609899999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:21.32, Y:-25.04, Z:48.73 [[ 9.94589092e-01 -6.29697600e-02 8.26277642e-02 2.13194460e+01] [ 6.30329847e-02 9.98009737e-01 1.84580427e-03 -2.50439823e+01] [-8.25795431e-02 3.37245780e-03 9.96578770e-01 4.87279133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12420609899999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:21.33, Y:-25.02, Z:48.75 [[ 9.96506505e-01 -2.42659822e-02 7.99121195e-02 2.13291056e+01] [ 2.34213212e-02 9.99659648e-01 1.14904251e-02 -2.50222901e+01] [-8.01637477e-02 -9.57863592e-03 9.96735684e-01 4.87548732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15420609899998 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:21.34, Y:-25.03, Z:48.78 [[ 9.95827763e-01 -4.34958559e-02 8.02195499e-02 2.13391525e+01] [ 4.30947696e-02 9.99048353e-01 6.72523246e-03 -2.50323733e+01] [-8.04357289e-02 -3.24013017e-03 9.96754531e-01 4.87818013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18420609899998 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:21.35, Y:-25.04, Z:48.81 [[ 9.95424658e-01 -5.13594965e-02 8.05726575e-02 2.13502306e+01] [ 5.09637290e-02 9.98676237e-01 6.96211720e-03 -2.50367462e+01] [-8.08235693e-02 -2.82398005e-03 9.96724423e-01 4.88077973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21420609899998 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:21.36, Y:-25.04, Z:48.83 [[ 9.95167141e-01 -5.40422221e-02 8.19865861e-02 2.13584361e+01] [ 5.36275388e-02 9.98534665e-01 7.25323195e-03 -2.50387018e+01] [-8.22584290e-02 -2.82143928e-03 9.96607039e-01 4.88345184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24420609899998 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:21.37, Y:-25.04, Z:48.86 [[ 9.95044177e-01 -5.64594990e-02 8.18499325e-02 2.13686920e+01] [ 5.60442842e-02 9.98401132e-01 7.36334222e-03 -2.50396430e+01] [-8.21347958e-02 -2.73962992e-03 9.96617464e-01 4.88608637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.27420609899998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:21.38, Y:-25.04, Z:48.89 [[ 9.94744346e-01 -6.13509645e-02 8.19740566e-02 2.13780243e+01] [ 6.09325346e-02 9.98112962e-01 7.59872871e-03 -2.50422996e+01] [-8.22855578e-02 -2.56390537e-03 9.96605495e-01 4.88870336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30420609899998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:21.39, Y:-25.04, Z:48.91 [[ 9.94423231e-01 -6.51608941e-02 8.29246396e-02 2.13872695e+01] [ 6.47328708e-02 9.97871810e-01 7.84264827e-03 -2.50437037e+01] [-8.32591941e-02 -2.43096165e-03 9.96524961e-01 4.89133382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.33420609899999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:21.40, Y:-25.04, Z:48.94 [[ 9.94262138e-01 -6.70362477e-02 8.33603183e-02 2.13970821e+01] [ 6.65954221e-02 9.97747501e-01 8.06069178e-03 -2.50442675e+01] [-8.37129078e-02 -2.46302506e-03 9.96486870e-01 4.89398827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36420609899999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:21.41, Y:-25.04, Z:48.97 [[ 9.94118892e-01 -6.91427500e-02 8.33481228e-02 2.14069898e+01] [ 6.86985309e-02 9.97603852e-01 8.18934397e-03 -2.50449090e+01] [-8.37146422e-02 -2.41528796e-03 9.96486841e-01 4.89666129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39420609899999 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:21.42, Y:-25.05, Z:48.99 [[ 9.93942737e-01 -7.25068178e-02 8.25869092e-02 2.14160876e+01] [ 7.20643098e-02 9.97365199e-01 8.33036882e-03 -2.50450837e+01] [-8.29733177e-02 -2.32834097e-03 9.96549049e-01 4.89934709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42420609899999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:21.43, Y:-25.04, Z:49.02 [[ 9.93876355e-01 -7.16157157e-02 8.41485586e-02 2.14264127e+01] [ 7.11377989e-02 9.97428834e-01 8.66804506e-03 -2.50447827e+01] [-8.45529670e-02 -2.62882179e-03 9.96415518e-01 4.90195164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.45420609899999 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:21.44, Y:-25.08, Z:49.05 [[ 9.87436709e-01 -1.32255452e-01 8.64710405e-02 2.14416143e+01] [ 1.33464459e-01 9.91018612e-01 -8.32754416e-03 -2.50762551e+01] [-8.45930475e-02 1.97637334e-02 9.96219560e-01 4.90466755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48420609899999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:21.44, Y:-25.03, Z:49.07 [[ 9.95674702e-01 -4.08311867e-02 8.34547893e-02 2.14444123e+01] [ 3.91542005e-02 9.98998957e-01 2.16340612e-02 -2.50257862e+01] [-8.42545918e-02 -1.82728819e-02 9.96276701e-01 4.90736193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51420609899998 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:21.46, Y:-25.05, Z:49.10 [[ 9.92433223e-01 -8.95219801e-02 8.40363784e-02 2.14563598e+01] [ 8.90823472e-02 9.95983834e-01 8.97425652e-03 -2.50525111e+01] [-8.45022675e-02 -1.42019249e-03 9.96422275e-01 4.91001938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.47, Y:-25.07, Z:49.13 [[ 9.89345668e-01 -1.20065505e-01 8.23372570e-02 2.14703480e+01] [ 1.20504639e-01 9.92712696e-01 -3.66682854e-04 -2.50682505e+01] [-8.16932145e-02 1.02847975e-02 9.96604456e-01 4.91258132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57420609899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:21.48, Y:-25.05, Z:49.15 [[ 9.93031002e-01 -8.77025249e-02 7.87254425e-02 2.14783575e+01] [ 8.72882939e-02 9.96145151e-01 8.69430403e-03 -2.50483518e+01] [-7.91844803e-02 -1.76190388e-03 9.96858422e-01 4.91519007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60420609899998 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:21.48, Y:-25.04, Z:49.18 [[ 9.93781308e-01 -7.43764562e-02 8.28664813e-02 2.14839347e+01] [ 7.33419259e-02 9.97186966e-01 1.54634008e-02 -2.50402852e+01] [-8.37834880e-02 -9.28965137e-03 9.96440680e-01 4.91791816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63420609899998 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:21.49, Y:-25.05, Z:49.20 [[ 9.92211996e-01 -9.33261338e-02 8.24959880e-02 2.14943264e+01] [ 9.27593024e-02 9.95631222e-01 1.06856112e-02 -2.50499846e+01] [-8.31328281e-02 -2.95012132e-03 9.96534109e-01 4.92045867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66420609899998 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:21.51, Y:-25.06, Z:49.23 [[ 9.90183058e-01 -1.15636957e-01 7.85213666e-02 2.15102559e+01] [ 1.15643963e-01 9.93280656e-01 4.47342555e-03 -2.50600865e+01] [-7.85110479e-02 4.65101180e-03 9.96902394e-01 4.92291325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.69420609899998 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:21.52, Y:-25.05, Z:49.26 [[ 9.92075615e-01 -9.98196570e-02 7.63020991e-02 2.15200879e+01] [ 9.94329571e-02 9.95004819e-01 8.85988284e-03 -2.50506811e+01] [-7.68053467e-02 -1.20273038e-03 9.97045381e-01 4.92557982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72420609899999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:21.52, Y:-25.04, Z:49.29 [[ 9.93344267e-01 -7.67356320e-02 8.58999965e-02 2.15218193e+01] [ 7.56376741e-02 9.97007487e-01 1.59691463e-02 -2.50378957e+01] [-8.68683421e-02 -9.36558397e-03 9.96175776e-01 4.92858764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75420609899999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:21.54, Y:-25.05, Z:49.31 [[ 9.91123646e-01 -1.05278725e-01 8.11807206e-02 2.15363429e+01] [ 1.04858861e-01 9.94442404e-01 9.42996825e-03 -2.50525869e+01] [-8.17223260e-02 -8.33746609e-04 9.96654788e-01 4.93110721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78420609899999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:21.55, Y:-25.05, Z:49.34 [[ 9.90375377e-01 -1.11454176e-01 8.20644768e-02 2.15460294e+01] [ 1.11047933e-01 9.93769527e-01 9.51234141e-03 -2.50541910e+01] [-8.26133665e-02 -3.07698178e-04 9.96581626e-01 4.93368269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81420609899999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:21.56, Y:-25.05, Z:49.36 [[ 9.91513715e-01 -1.04793581e-01 7.69341130e-02 2.15585623e+01] [ 1.04217015e-01 9.94488294e-01 1.14824182e-02 -2.50492044e+01] [-7.77133585e-02 -3.36713157e-03 9.96970058e-01 4.93614689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84420609899999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:21.57, Y:-25.05, Z:49.39 [[ 9.90306206e-01 -1.13608918e-01 7.99164017e-02 2.15673807e+01] [ 1.13210591e-01 9.93525478e-01 9.51248945e-03 -2.50534653e+01] [-8.04796848e-02 -3.72894311e-04 9.96756179e-01 4.93902624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87420609899998 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:21.58, Y:-25.05, Z:49.42 [[ 9.90071449e-01 -1.15647410e-01 7.99011995e-02 2.15770602e+01] [ 1.15245206e-01 9.93290271e-01 9.64265563e-03 -2.50538950e+01] [-8.04802323e-02 -3.38687866e-04 9.96756147e-01 4.94170874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90420609899998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:21.59, Y:-25.04, Z:49.44 [[ 9.93621677e-01 -8.53497694e-02 7.36979017e-02 2.15862662e+01] [ 8.48730313e-02 9.96345698e-01 9.58225213e-03 -2.50357599e+01] [-7.42464303e-02 -3.26616911e-03 9.97234576e-01 4.94412800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93420609899998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:21.59, Y:-25.02, Z:49.47 [[ 9.95769514e-01 -6.51868108e-02 6.47592031e-02 2.15936330e+01] [ 6.47329363e-02 9.97861272e-01 9.08456774e-03 -2.50227050e+01] [-6.52128947e-02 -4.85408223e-03 9.97859567e-01 4.94694809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.61, Y:-25.04, Z:49.49 [[ 9.93618055e-01 -9.24182933e-02 6.46685361e-02 2.16055406e+01] [ 9.24404890e-02 9.95714671e-01 2.65525740e-03 -2.50376084e+01] [-6.46368045e-02 3.33967941e-03 9.97903267e-01 4.94941307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.61, Y:-25.01, Z:49.52 [[ 9.96749073e-01 -5.01206109e-02 6.30809785e-02 2.16119789e+01] [ 4.93636558e-02 9.98689597e-01 1.35025571e-02 -2.50131144e+01] [-6.36750734e-02 -1.03447535e-02 9.97917066e-01 4.95229681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.62, Y:-25.03, Z:49.55 [[ 9.94531269e-01 -7.88490228e-02 6.84863971e-02 2.16208684e+01] [ 7.86507731e-02 9.96886554e-01 5.59056252e-03 -2.50274039e+01] [-6.87139788e-02 -1.73481155e-04 9.97636386e-01 4.95476700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.05420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.63, Y:-25.03, Z:49.57 [[ 9.94687023e-01 -8.17044763e-02 6.26267161e-02 2.16346397e+01] [ 8.15287017e-02 9.96656574e-01 5.36132014e-03 -2.50277358e+01] [-6.28553722e-02 -2.26960714e-04 9.98022620e-01 4.95745878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.65, Y:-25.02, Z:49.60 [[ 9.96397872e-01 -6.32273786e-02 5.65117584e-02 2.16452589e+01] [ 6.30732689e-02 9.97998716e-01 4.50829655e-03 -2.50156199e+01] [-5.66837101e-02 -9.27675757e-04 9.98391755e-01 4.96002562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11420609899999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:21.66, Y:-24.99, Z:49.63 [[ 9.98047059e-01 -3.33074059e-02 5.28458490e-02 2.16555084e+01] [ 3.29947358e-02 9.99432540e-01 6.77832474e-03 -2.49947034e+01] [-5.30416295e-02 -5.02145225e-03 9.98579677e-01 4.96250348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14420609899999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:21.67, Y:-24.95, Z:49.65 [[ 9.97978085e-01 4.85630172e-02 4.10045816e-02 2.16653929e+01] [-4.92056714e-02 9.98678844e-01 1.48111208e-02 -2.49494689e+01] [-4.02311354e-02 -1.67988319e-02 9.99049175e-01 4.96520692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17420609899999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:21.67, Y:-24.99, Z:49.68 [[ 9.99298826e-01 -1.05093975e-02 3.59361870e-02 2.16736701e+01] [ 1.06327554e-02 9.99938211e-01 -3.24330185e-03 -2.49860021e+01] [-3.58998813e-02 3.62312841e-03 9.99348824e-01 4.96777559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20420609899999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:21.68, Y:-24.99, Z:49.71 [[ 9.99672745e-01 -1.00657714e-02 2.35177070e-02 2.16802538e+01] [ 1.01291184e-02 9.99945381e-01 -2.57601342e-03 -2.49875272e+01] [-2.34904929e-02 2.81338405e-03 9.99720102e-01 4.97065338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.23420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.69, Y:-24.95, Z:49.73 [[ 9.98441377e-01 5.24061912e-02 1.91939547e-02 2.16864749e+01] [-5.27005925e-02 9.98495166e-01 1.51674587e-02 -2.49516558e+01] [-1.83702022e-02 -1.61553512e-02 9.99700725e-01 4.97342193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26420609899998 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:21.70, Y:-24.97, Z:49.76 [[ 9.99568258e-01 2.27499493e-02 1.85940307e-02 2.16989405e+01] [-2.28096505e-02 9.99735310e-01 3.00499286e-03 -2.49701862e+01] [-1.85207457e-02 -3.42781882e-03 9.99822600e-01 4.97602469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.70, Y:-24.97, Z:49.79 [[ 9.99143339e-01 3.75340943e-02 1.74293118e-02 2.17036466e+01] [-3.75893659e-02 9.99289193e-01 2.85437465e-03 -2.49658524e+01] [-1.73097866e-02 -3.50708620e-03 9.99844024e-01 4.97877974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32420609899998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:21.72, Y:-24.99, Z:49.81 [[ 9.99825769e-01 -4.82800688e-03 1.80311436e-02 2.17170597e+01] [ 4.93726587e-03 9.99969692e-01 -6.01986714e-03 -2.49863589e+01] [-1.80015331e-02 6.10784285e-03 9.99819303e-01 4.98127404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35420609899998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:21.73, Y:-24.97, Z:49.84 [[ 9.99609179e-01 2.18448650e-02 1.74439433e-02 2.17277091e+01] [-2.18581715e-02 9.99760918e-01 5.72496813e-04 -2.49704207e+01] [-1.74272666e-02 -9.53565774e-04 9.99847679e-01 4.98382997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38420609899998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:21.74, Y:-24.94, Z:49.87 [[ 9.97722124e-01 6.57129958e-02 1.52435097e-02 2.17372144e+01] [-6.58947250e-02 9.97757489e-01 1.17421345e-02 -2.49449726e+01] [-1.44377152e-02 -1.27198543e-02 9.99814862e-01 4.98658107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.41420609899998 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:21.74, Y:-24.98, Z:49.89 [[ 9.99914080e-01 4.85903043e-03 1.21747032e-02 2.17448927e+01] [-4.73735141e-03 9.99938743e-01 -1.00033981e-02 -2.49811392e+01] [-1.22225642e-02 9.94486276e-03 9.99875847e-01 4.98939198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.75, Y:-24.94, Z:49.92 [[ 9.96938842e-01 7.72399523e-02 1.21216463e-02 2.17541076e+01] [-7.73952660e-02 9.96916850e-01 1.29138367e-02 -2.49389136e+01] [-1.10868093e-02 -1.38124635e-02 9.99843137e-01 4.99204825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47420609899999 meters Centerline goodness : 0.999964 Centerline is valid? [True, True] Translation: X:21.76, Y:-24.95, Z:49.95 [[ 9.98701146e-01 4.89592498e-02 1.41071866e-02 2.17627048e+01] [-4.90000624e-02 9.98795490e-01 2.56186125e-03 -2.49538185e+01] [-1.39647676e-02 -3.24978680e-03 9.99897207e-01 4.99482485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50420609899999 meters Centerline goodness : 0.999964 Centerline is valid? [True, True] Translation: X:21.77, Y:-24.95, Z:49.98 [[ 9.98804582e-01 4.68013180e-02 1.41082646e-02 2.17718781e+01] [-4.68417474e-02 9.98899071e-01 2.54877974e-03 -2.49541149e+01] [-1.39734461e-02 -3.20658865e-03 9.99897225e-01 4.99751909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53420609899999 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:21.78, Y:-24.96, Z:50.00 [[ 9.99122715e-01 3.89078320e-02 1.54913481e-02 2.17812926e+01] [-3.89296762e-02 9.99241335e-01 1.11092685e-03 -2.49577761e+01] [-1.54363716e-02 -1.71302542e-03 9.99879385e-01 5.00009075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56420609899999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:21.79, Y:-24.95, Z:50.03 [[ 9.98490179e-01 5.37926582e-02 1.11225744e-02 2.17914328e+01] [-5.38336548e-02 9.98544062e-01 3.41973046e-03 -2.49491688e+01] [-1.09224242e-02 -4.01333611e-03 9.99932295e-01 5.00286517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.59420609899999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:21.80, Y:-24.95, Z:50.06 [[ 9.98663327e-01 5.00823455e-02 1.27796153e-02 2.17992939e+01] [-5.01173420e-02 9.98740373e-01 2.43285869e-03 -2.49506414e+01] [-1.26416745e-02 -3.07008710e-03 9.99915378e-01 5.00558989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62420609899998 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:21.81, Y:-24.95, Z:50.08 [[ 9.98837911e-01 4.67071929e-02 1.18855218e-02 2.18084770e+01] [-4.67387532e-02 9.98904285e-01 2.39143796e-03 -2.49511675e+01] [-1.17608013e-02 -2.94417337e-03 9.99926505e-01 5.00820805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65420609899998 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:21.82, Y:-24.95, Z:50.11 [[ 9.98836164e-01 4.64973665e-02 1.28184616e-02 2.18160865e+01] [-4.65335886e-02 9.98913491e-01 2.54198690e-03 -2.49505349e+01] [-1.26863385e-02 -3.13551746e-03 9.99914609e-01 5.01093394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68420609899998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:21.83, Y:-24.95, Z:50.14 [[ 9.99064696e-01 4.16278692e-02 1.16984124e-02 2.18258477e+01] [-4.16580346e-02 9.99129171e-01 2.34674121e-03 -2.49521391e+01] [-1.15905352e-02 -2.83187916e-03 9.99928817e-01 5.01360799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.83, Y:-24.95, Z:50.16 [[ 9.99383556e-01 3.21075716e-02 1.41990356e-02 2.18330228e+01] [-3.21464286e-02 9.99480001e-01 2.51681982e-03 -2.49516466e+01] [-1.41108432e-02 -2.97171663e-03 9.99896021e-01 5.01629939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74420609899998 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:21.85, Y:-24.97, Z:50.19 [[ 9.99685557e-01 -1.35138278e-02 2.11225903e-02 2.18491881e+01] [ 1.36431370e-02 9.99888988e-01 -5.98976592e-03 -2.49698853e+01] [-2.10393008e-02 6.27606087e-03 9.99758950e-01 5.01869107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.77420609899998 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:21.86, Y:-24.93, Z:50.21 [[ 9.99023623e-01 4.05005465e-02 1.76495250e-02 2.18618284e+01] [-4.07115296e-02 9.99101696e-01 1.17632163e-02 -2.49326738e+01] [-1.71572537e-02 -1.24702702e-02 9.99775035e-01 5.02127294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80420609899998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:21.88, Y:-24.94, Z:50.24 [[ 9.99573649e-01 2.29262883e-03 2.91077995e-02 2.18765770e+01] [-2.44069389e-03 9.99984259e-01 5.05227342e-03 -2.49427718e+01] [-2.90957583e-02 -5.12116261e-03 9.99563510e-01 5.02377555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.83420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.89, Y:-24.96, Z:50.26 [[ 9.98002550e-01 -5.04580951e-02 3.80117223e-02 2.18921981e+01] [ 5.06496310e-02 9.98708100e-01 -4.09222727e-03 -2.49618757e+01] [-3.77561290e-02 6.00933296e-03 9.99268914e-01 5.02615307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86420609899999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:21.90, Y:-24.94, Z:50.28 [[ 9.98763900e-01 -2.89975189e-02 4.03709786e-02 2.19047383e+01] [ 2.87674351e-02 9.99566475e-01 6.26866491e-03 -2.49423088e+01] [-4.05352525e-02 -5.09954671e-03 9.99165095e-01 5.02848295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89420609899999 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:21.92, Y:-24.91, Z:50.31 [[ 9.98897923e-01 5.21072742e-03 4.66453449e-02 2.19152926e+01] [-6.12358700e-03 9.99792102e-01 1.94487620e-02 -2.49135173e+01] [-4.65343052e-02 -1.97129648e-02 9.98722162e-01 5.03078859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92420609899999 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:21.93, Y:-24.93, Z:50.33 [[ 9.98344873e-01 -3.07485090e-02 4.86008600e-02 2.19265757e+01] [ 3.00797169e-02 9.99443293e-01 1.44330778e-02 -2.49255399e+01] [-4.90175992e-02 -1.29472891e-02 9.98713994e-01 5.03348880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.95420609899999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:21.94, Y:-24.92, Z:50.36 [[ 9.97889755e-01 -2.27978825e-02 6.07971428e-02 2.19428054e+01] [ 2.19013065e-02 9.99641939e-01 1.53729271e-02 -2.49220404e+01] [-6.11258439e-02 -1.40089496e-02 9.98031753e-01 5.03593356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.95, Y:-24.95, Z:50.39 [[ 9.95631782e-01 -6.92597723e-02 6.26134060e-02 2.19533569e+01] [ 6.92269501e-02 9.97597294e-01 2.69606415e-03 -2.49471509e+01] [-6.26496932e-02 1.65024798e-03 9.98034214e-01 5.03887167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01420609899998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:21.96, Y:-24.93, Z:50.41 [[ 9.97123962e-01 -3.82077202e-02 6.54520832e-02 2.19585611e+01] [ 3.75491403e-02 9.99231305e-01 1.12632420e-02 -2.49307851e+01] [-6.58321133e-02 -8.77317903e-03 9.97792145e-01 5.04140480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04420609899998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:21.96, Y:-24.93, Z:50.44 [[ 9.96291280e-01 -4.59856825e-02 7.27255304e-02 2.19612275e+01] [ 4.51835321e-02 9.98898762e-01 1.26376853e-02 -2.49340242e+01] [-7.32265949e-02 -9.30481929e-03 9.97271922e-01 5.04430743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07420609899998 meters Centerline goodness : 0.980921 Centerline is valid? [True, True] Translation: X:22.72, Y:-24.77, Z:50.21 [[ -0.52241639 0.66397389 0.53499513 22.71651992] [ -0.61868468 -0.72691744 0.29802735 -24.76764373] [ 0.58677967 -0.17529892 0.79054406 50.20871346] [ 0. 0. 0. 1. ]] SLAMing on 85.10420609899998 meters Centerline goodness : 0.983884 Centerline is valid? [True, True] Translation: X:22.03, Y:-25.21, Z:50.58 [[ 0.7915819 -0.5758524 0.20443118 22.028531 ] [ 0.60676029 0.7803483 -0.15132244 -25.21287144] [ -0.07238813 0.24382483 0.96711396 50.58434568] [ 0. 0. 0. 1. ]] SLAMing on 85.13420609899998 meters Centerline goodness : 0.971617 Centerline is valid? [True, True] Translation: X:21.97, Y:-24.89, Z:50.63 [[ 9.90426750e-01 7.92367074e-03 1.37811713e-01 2.19701614e+01] [-8.87096804e-03 9.99941051e-01 6.26100916e-03 -2.48921756e+01] [-1.37753979e-01 -7.42359426e-03 9.90438656e-01 5.06310256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16420609899998 meters Centerline goodness : 0.971535 Centerline is valid? [True, True] Translation: X:21.98, Y:-24.88, Z:50.66 [[ 9.89912799e-01 3.25237899e-02 1.37894354e-01 2.19834556e+01] [-3.49163503e-02 9.99278162e-01 1.49667409e-02 -2.48760123e+01] [-1.37308041e-01 -1.96305359e-02 9.90333855e-01 5.06556280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.19420609899998 meters Centerline goodness : 0.981278 Centerline is valid? [True, True] Translation: X:22.11, Y:-25.23, Z:50.67 [[ 7.42288242e-01 -6.42176494e-01 1.91357042e-01 2.21138742e+01] [ 6.69065772e-01 7.26011362e-01 -1.58929216e-01 -2.52309672e+01] [-3.68667801e-02 2.46001735e-01 9.68568008e-01 5.06653706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22420609899999 meters Centerline goodness : 0.969527 Centerline is valid? [True, True] Translation: X:22.69, Y:-24.61, Z:50.45 [[ -0.31525503 0.81354495 0.48862959 22.69476052] [ -0.80580109 -0.50145306 0.31500702 -24.6073608 ] [ 0.50129718 -0.29443071 0.81364101 50.44763169] [ 0. 0. 0. 1. ]] SLAMing on 85.25420609899999 meters Centerline goodness : 0.964064 Centerline is valid? [True, True] Translation: X:22.86, Y:-24.88, Z:50.45 [[ -0.70090401 0.35418591 0.61910089 22.86071291] [ -0.30821678 -0.93317004 0.18492187 -24.87617719] [ 0.64322312 -0.0612048 0.76322866 50.44693089] [ 0. 0. 0. 1. ]] SLAMing on 85.28420609899999 meters Centerline goodness : 0.963728 Centerline is valid? [True, True] Translation: X:22.30, Y:-25.33, Z:50.77 [[ 6.08489185e-01 -7.79669667e-01 1.47838165e-01 2.23026199e+01] [ 7.93306676e-01 5.92917220e-01 -1.38252265e-01 -2.53299237e+01] [ 2.01353041e-02 2.01406011e-01 9.79300867e-01 5.07705086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.31420609899999 meters Centerline goodness : 0.964965 Centerline is valid? [True, True] Translation: X:22.24, Y:-25.18, Z:50.81 [[ 8.70411217e-01 -4.91362456e-01 3.07774178e-02 2.22351631e+01] [ 4.92307932e-01 8.69204707e-01 -4.60008443e-02 -2.51841922e+01] [-4.14878858e-03 5.51916178e-02 9.98467162e-01 5.08071282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34420609899999 meters Centerline goodness : 0.979177 Centerline is valid? [True, True] Translation: X:22.24, Y:-25.14, Z:50.83 [[ 9.12179812e-01 -4.09685206e-01 9.27487490e-03 2.22357567e+01] [ 4.09789988e-01 9.11967605e-01 -1.96787617e-02 -2.51442941e+01] [-3.96287908e-04 2.17513200e-02 9.99763334e-01 5.08335162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.37420609899998 meters Centerline goodness : 0.996069 Centerline is valid? [True, True] Translation: X:22.24, Y:-25.10, Z:50.86 [[ 9.51216025e-01 -3.08190379e-01 -1.43793191e-02 2.22418522e+01] [ 3.08358506e-01 9.51201514e-01 1.14329390e-02 -2.50957998e+01] [ 1.01541083e-02 -1.53091802e-02 9.99831247e-01 5.08560167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40420609899998 meters Centerline goodness : 0.959676 Centerline is valid? [True, True] Translation: X:22.27, Y:-25.03, Z:50.88 [[ 9.82871054e-01 -1.76932784e-01 -5.15682083e-02 2.22709112e+01] [ 1.78640096e-01 9.83438757e-01 3.05929302e-02 -2.50286725e+01] [ 4.53012823e-02 -3.92810553e-02 9.98200778e-01 5.08758193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43420609899998 meters Centerline goodness : 0.982895 Centerline is valid? [True, True] Translation: X:22.28, Y:-25.09, Z:50.91 [[ 9.45287398e-01 -3.25354459e-01 -2.40044047e-02 2.22784997e+01] [ 3.25273074e-01 9.45591721e-01 -7.32968739e-03 -2.50920282e+01] [ 2.50831128e-02 -8.79325394e-04 9.99684983e-01 5.09130302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46420609899998 meters Centerline goodness : 0.972166 Centerline is valid? [True, True] Translation: X:22.29, Y:-25.09, Z:50.94 [[ 9.42460530e-01 -3.33853311e-01 -1.76101140e-02 2.22892334e+01] [ 3.33805039e-01 9.42624904e-01 -5.69964723e-03 -2.50943419e+01] [ 1.85025781e-02 -5.06652231e-04 9.99828684e-01 5.09435095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49420609899998 meters Centerline goodness : 0.876724 Centerline is valid? [True, False] Translation: X:22.28, Y:-25.07, Z:50.94 [[ 9.63808707e-01 -2.65883059e-01 -1.94672979e-02 2.22756421e+01] [ 2.66328747e-01 9.63537831e-01 2.57652133e-02 -2.50700264e+01] [ 1.19069443e-02 -3.00174380e-02 9.99478453e-01 5.09392662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.52420609899998 meters Centerline goodness : 0.866997 Centerline is valid? [False, False] Translation: X:22.27, Y:-25.05, Z:50.94 [[ 9.78651653e-01 -2.04489080e-01 -2.06193781e-02 2.22676585e+01] [ 2.05315700e-01 9.77255162e-01 5.30830724e-02 -2.50471851e+01] [ 9.29548500e-03 -5.61833186e-02 9.98377198e-01 5.09367343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.55420609899998 meters Centerline goodness : 0.881864 Centerline is valid? [False, False] Translation: X:22.26, Y:-25.03, Z:50.92 [[ 9.86924530e-01 -1.59968155e-01 -1.97524994e-02 2.22593948e+01] [ 1.60990952e-01 9.84299560e-01 7.23622172e-02 -2.50327974e+01] [ 7.86672604e-03 -7.45960209e-02 9.97182806e-01 5.09227786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58420609899999 meters Centerline goodness : 0.890032 Centerline is valid? [False, False] Translation: X:22.26, Y:-25.02, Z:50.92 [[ 9.92398738e-01 -1.21652252e-01 -1.85869184e-02 2.22556923e+01] [ 1.22822085e-01 9.88551288e-01 8.76418028e-02 -2.50197001e+01] [ 7.71229937e-03 -8.92584986e-02 9.95978635e-01 5.09225955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61420609899999 meters Centerline goodness : 0.892339 Centerline is valid? [False, False] Translation: X:22.25, Y:-25.01, Z:50.92 [[ 9.94646188e-01 -1.02262591e-01 -1.48769355e-02 2.22506712e+01] [ 1.03232122e-01 9.89814139e-01 9.80362135e-02 -2.50129315e+01] [ 4.69996387e-03 -9.90471237e-02 9.95071644e-01 5.09195625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64420609899999 meters Centerline goodness : 0.899524 Centerline is valid? [False, False] Translation: X:22.25, Y:-25.01, Z:50.92 [[ 9.96415496e-01 -8.38615183e-02 -1.11088147e-02 2.22455250e+01] [ 8.45686041e-02 9.90712309e-01 1.06476624e-01 -2.50076563e+01] [ 2.07634813e-03 -1.07034415e-01 9.94253148e-01 5.09152558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67420609899999 meters Centerline goodness : 0.907263 Centerline is valid? [False, False] Translation: X:22.25, Y:-25.01, Z:50.91 [[ 9.97062546e-01 -7.56608819e-02 -1.19042208e-02 2.22455306e+01] [ 7.65248558e-02 9.90576358e-01 1.13588841e-01 -2.50065303e+01] [ 3.19780784e-03 -1.14166147e-01 9.93456524e-01 5.09144124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70420609899999 meters Centerline goodness : 0.922911 Centerline is valid? [False, False] Translation: X:22.24, Y:-25.00, Z:50.91 [[ 9.97738195e-01 -6.68681313e-02 -6.86633303e-03 2.22399132e+01] [ 6.72145448e-02 9.91172559e-01 1.14276696e-01 -2.50030138e+01] [-8.35748265e-04 -1.14479742e-01 9.93425231e-01 5.09117093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.73420609899999 meters Centerline goodness : 0.919873 Centerline is valid? [False, False] Translation: X:22.24, Y:-25.00, Z:50.91 [[ 9.98227100e-01 -5.94918995e-02 -1.83614812e-03 2.22350099e+01] [ 5.93140058e-02 9.91729276e-01 1.13819558e-01 -2.50007824e+01] [-4.95037985e-03 -1.13726676e-01 9.93499742e-01 5.09084182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76420609899998 meters Centerline goodness : 0.933192 Centerline is valid? [False, False] Translation: X:22.23, Y:-25.00, Z:50.91 [[ 9.98230104e-01 -5.94361210e-02 -2.00170048e-03 2.22348378e+01] [ 5.92782048e-02 9.91750171e-01 1.13656027e-01 -2.50004668e+01] [-4.77008656e-03 -1.13573525e-01 9.93518143e-01 5.09084210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79420609899998 meters Centerline goodness : 0.995042 Centerline is valid? [False, True] Translation: X:22.23, Y:-25.00, Z:50.91 [[ 9.98308390e-01 -5.81131468e-02 -1.79445881e-03 2.22336650e+01] [ 5.79383367e-02 9.91783495e-01 1.14055461e-01 -2.49988476e+01] [-4.84840713e-03 -1.13966492e-01 9.93472763e-01 5.09090131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82420609899998 meters Centerline goodness : 0.952279 Centerline is valid? [True, True] Translation: X:22.28, Y:-25.00, Z:50.93 [[ 0.99055901 -0.10093768 -0.09276008 22.28215404] [ 0.10699164 0.99227588 0.06278029 -24.99662079] [ 0.0857067 -0.07211214 0.9937073 50.93093287] [ 0. 0. 0. 1. ]] SLAMing on 85.85420609899998 meters Centerline goodness : 0.973408 Centerline is valid? [True, True] Translation: X:22.31, Y:-25.11, Z:50.96 [[ 9.22742496e-01 -3.80802629e-01 -5.94612840e-02 2.23066667e+01] [ 3.79435548e-01 9.24620748e-01 -3.32436030e-02 -2.51066938e+01] [ 6.76383883e-02 8.11356032e-03 9.97676911e-01 5.09571133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88420609899998 meters Centerline goodness : 0.968069 Centerline is valid? [True, True] Translation: X:22.38, Y:-25.20, Z:51.00 [[ 7.65633919e-01 -6.43010169e-01 1.85101198e-02 2.23804581e+01] [ 6.40623319e-01 7.59549557e-01 -1.12633183e-01 -2.51992065e+01] [ 5.83649288e-02 9.80937998e-02 9.93464213e-01 5.10042042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.91420609899998 meters Centerline goodness : 0.979096 Centerline is valid? [True, True] Translation: X:22.96, Y:-25.13, Z:50.87 [[ -0.75453879 -0.3421602 0.55999786 22.95516149] [ 0.37668827 -0.92456236 -0.05736188 -25.12667269] [ 0.5373799 0.16766286 0.8265059 50.87341986] [ 0. 0. 0. 1. ]] SLAMing on 85.94420609899998 meters Centerline goodness : 0.981701 Centerline is valid? [True, True] Translation: X:22.97, Y:-24.91, Z:50.88 [[-7.11594762e-01 4.53034338e-01 5.37022143e-01 2.29689800e+01] [-3.51537981e-01 -8.91369567e-01 2.86149161e-01 -2.49123256e+01] [ 6.08320591e-01 1.48385639e-02 7.93552692e-01 5.08788731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97420609899999 meters Centerline goodness : 0.985124 Centerline is valid? [True, True] Translation: X:22.91, Y:-24.80, Z:50.92 [[ -0.36429532 0.86262678 0.35094723 22.90647166] [ -0.72709474 -0.49892342 0.47160223 -24.7973709 ] [ 0.58191251 -0.0833694 0.80896686 50.91667821] [ 0. 0. 0. 1. ]] SLAMing on 86.00420609899999 meters Centerline goodness : 0.990925 Centerline is valid? [True, True] Translation: X:22.75, Y:-24.72, Z:51.01 [[ 0.22351466 0.97150398 0.07887463 22.74753638] [ -0.85100467 0.15505547 0.50174581 -24.71743182] [ 0.47521811 -0.17927022 0.86141159 51.01402517] [ 0. 0. 0. 1. ]] SLAMing on 86.03420609899999 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:22.59, Y:-25.35, Z:51.18 [[ 6.35656124e-01 -7.66443776e-01 -9.22238069e-02 2.25912990e+01] [ 7.69160019e-01 6.38992742e-01 -9.00780784e-03 -2.53484169e+01] [ 6.58343216e-02 -6.52089968e-02 9.95697559e-01 5.11804875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06420609899999 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:22.61, Y:-25.34, Z:51.20 [[ 6.06392368e-01 -7.88464292e-01 -1.03016290e-01 2.26126972e+01] [ 7.89182625e-01 6.12620415e-01 -4.34397381e-02 -2.53383244e+01] [ 9.73605649e-02 -5.49571408e-02 9.93730664e-01 5.12044956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.09420609899999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:22.83, Y:-25.43, Z:51.24 [[ 2.64177663e-02 -9.92224333e-01 1.21626376e-01 2.28289528e+01] [ 9.97334687e-01 1.78829216e-02 -7.07369983e-02 -2.54270969e+01] [ 6.80119360e-02 1.23170917e-01 9.90052171e-01 5.12434636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12420609899998 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:22.62, Y:-25.35, Z:51.29 [[ 5.49653585e-01 -8.35180345e-01 -1.88342252e-02 2.26233574e+01] [ 8.34619109e-01 5.49975036e-01 -3.06333647e-02 -2.53531301e+01] [ 3.59427378e-02 1.11833447e-03 9.99353225e-01 5.12884935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15420609899998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:22.63, Y:-25.35, Z:51.32 [[ 5.40285525e-01 -8.41380962e-01 -1.30241358e-02 2.26316409e+01] [ 8.40789219e-01 5.40404017e-01 -3.22022999e-02 -2.53473078e+01] [ 3.41326974e-02 6.44788354e-03 9.99396510e-01 5.13186196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18420609899998 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:22.63, Y:-25.33, Z:51.36 [[ 5.65830191e-01 -8.24281615e-01 -1.99000818e-02 2.26260195e+01] [ 8.23669993e-01 5.66177775e-01 -3.17878801e-02 -2.53308354e+01] [ 3.74691492e-02 1.59544207e-03 9.99296511e-01 5.13585667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21420609899998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:22.55, Y:-24.76, Z:51.34 [[ 0.86316805 0.48390802 -0.14413169 22.54795248] [ -0.44345685 0.86304901 0.2418521 -24.75899983] [ 0.24142688 -0.14484282 0.95954865 51.34123925] [ 0. 0. 0. 1. ]] SLAMing on 86.24420609899998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:22.59, Y:-24.70, Z:51.41 [[ 0.84958201 0.49637323 -0.17839288 22.58821796] [ -0.46481819 0.86442898 0.19158964 -24.69676191] [ 0.24930794 -0.07985086 0.96512662 51.409328 ] [ 0. 0. 0. 1. ]] SLAMing on 86.27420609899998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:22.61, Y:-25.11, Z:51.46 [[ 7.94016117e-01 -5.87085395e-01 -1.57699539e-01 2.26064090e+01] [ 5.79731330e-01 8.09352994e-01 -9.41239422e-02 -2.51104481e+01] [ 1.82893386e-01 -1.66874362e-02 9.82991118e-01 5.14645590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30420609899998 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:22.70, Y:-24.57, Z:51.51 [[ 6.83452758e-01 7.06949309e-01 -1.81975277e-01 2.26964180e+01] [-6.78515352e-01 7.07154720e-01 1.98869605e-01 -2.45702947e+01] [ 2.69275406e-01 -1.24449606e-02 9.62982803e-01 5.15067891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.33420609899999 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:22.60, Y:-24.98, Z:51.55 [[ 8.99515201e-01 -3.67818436e-01 -2.35758354e-01 2.26022662e+01] [ 3.58711638e-01 9.29835327e-01 -8.20501353e-02 -2.49831320e+01] [ 2.49395999e-01 -1.07639215e-02 9.68341765e-01 5.15455501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36420609899999 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:23.34, Y:-24.95, Z:51.63 [[ -0.95544088 -0.11840709 0.27039319 23.34323565] [ 0.13910019 -0.9885415 0.05862456 -24.95403396] [ 0.26035333 0.09362405 0.96096341 51.63176181] [ 0. 0. 0. 1. ]] SLAMing on 86.39420609899999 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:23.35, Y:-24.96, Z:51.72 [[-9.62338589e-01 -1.68059999e-02 2.71333740e-01 2.33477558e+01] [ 5.94769501e-02 -9.86922993e-01 1.49818215e-01 -2.49648594e+01] [ 2.65267662e-01 1.60313953e-01 9.50753651e-01 5.17230481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42420609899999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:23.35, Y:-24.98, Z:51.82 [[-9.62904399e-01 4.53753800e-02 2.66000365e-01 2.33504510e+01] [ 1.76652110e-02 -9.73046135e-01 2.29932946e-01 -2.49844870e+01] [ 2.69263921e-01 2.26102398e-01 9.36148838e-01 5.18178923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.45420609899999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:22.96, Y:-25.36, Z:51.94 [[-1.02965355e-02 -9.99756184e-01 1.95334135e-02 2.29625000e+01] [ 9.99074529e-01 -1.11014299e-02 -4.15553025e-02 -2.53645516e+01] [ 4.17620195e-02 1.90874603e-02 9.98945245e-01 5.19442553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48420609899999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:22.94, Y:-25.36, Z:51.98 [[ 5.18693039e-02 -9.98646231e-01 3.90892592e-03 2.29384732e+01] [ 9.97885321e-01 5.16754542e-02 -3.94275638e-02 -2.53550258e+01] [ 3.91721925e-02 5.94574009e-03 9.99214785e-01 5.19758811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51420609899998 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:22.58, Y:-24.89, Z:51.97 [[ 9.68533868e-01 1.16106770e-02 -2.48610820e-01 2.25779252e+01] [ 2.55440147e-02 9.88998646e-01 1.45702376e-01 -2.48911956e+01] [ 2.47567467e-01 -1.47468204e-01 9.57582100e-01 5.19696291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54420609899998 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:23.02, Y:-24.50, Z:52.00 [[ 1.90027805e-02 9.97222394e-01 -7.20166005e-02 2.30204904e+01] [-9.14685466e-01 4.64245544e-02 4.01491294e-01 -2.45016117e+01] [ 4.03719448e-01 5.82430868e-02 9.13027026e-01 5.20000442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57420609899998 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:23.15, Y:-25.24, Z:52.12 [[-3.35595185e-01 -9.40605495e-01 5.13534323e-02 2.31517880e+01] [ 9.35249567e-01 -3.39210259e-01 -1.01215846e-01 -2.52385781e+01] [ 1.12623792e-01 1.40607248e-02 9.93538211e-01 5.21213349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60420609899998 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:22.67, Y:-25.03, Z:52.07 [[ 8.83971405e-01 -3.97904557e-01 -2.45492401e-01 2.26721781e+01] [ 4.06833481e-01 9.13370820e-01 -1.55004713e-02 -2.50308709e+01] [ 2.30393304e-01 -8.61725548e-02 9.69274583e-01 5.20711941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63420609899998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:23.16, Y:-25.23, Z:52.08 [[-3.31719898e-01 9.42360466e-01 4.38025272e-02 2.31586524e+01] [ 8.67962647e-01 3.23063500e-01 -3.77188041e-01 -2.52347637e+01] [-3.69598096e-01 -8.71018210e-02 -9.25100276e-01 5.20798864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.66420609899998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:22.90, Y:-25.23, Z:52.10 [[ 3.36400610e-01 9.30463758e-01 -1.45161375e-01 2.28985447e+01] [ 8.52819442e-01 -3.66381344e-01 -3.72107122e-01 -2.52314980e+01] [-3.99416611e-01 1.38061945e-03 -9.16768490e-01 5.20964219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.69420609899998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:23.13, Y:-24.53, Z:52.01 [[ -0.26802286 -0.95454194 0.13043554 23.13306443] [ -0.94886878 0.28498233 0.13576862 -24.52653377] [ -0.16676867 -0.08737712 -0.98211682 52.00624785] [ 0. 0. 0. 1. ]] SLAMing on 86.72420609899999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:22.65, Y:-24.82, Z:51.88 [[ 9.17677363e-01 -3.66955451e-01 -1.52354700e-01 2.26514004e+01] [-3.63571848e-01 -9.30194763e-01 5.05293523e-02 -2.48232148e+01] [-1.60261565e-01 9.02223701e-03 -9.87033348e-01 5.18842830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75420609899999 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:22.86, Y:-25.32, Z:51.80 [[ 5.37043418e-01 8.34816838e-01 -1.21100018e-01 2.28610023e+01] [ 8.06840281e-01 -5.50240610e-01 -2.15044256e-01 -2.53220200e+01] [-2.46156714e-01 1.77797295e-02 -9.69066950e-01 5.17977957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78420609899999 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:23.07, Y:-25.39, Z:51.67 [[ 1.45156146e-01 9.85444610e-01 -8.84794525e-02 2.30732485e+01] [ 9.55552210e-01 -1.62820949e-01 -2.45783059e-01 -2.53888387e+01] [-2.56611899e-01 -4.88698149e-02 -9.65278237e-01 5.16744406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.81420609899999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:23.51, Y:-25.06, Z:51.69 [[-9.38639605e-01 -1.12093467e-01 3.26175945e-01 2.35073098e+01] [ 1.35447478e-01 -9.89536463e-01 4.97148696e-02 -2.50596085e+01] [ 3.17190279e-01 9.08440549e-02 9.44000892e-01 5.16872377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84420609899999 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:22.92, Y:-25.33, Z:51.79 [[ 5.27234997e-01 -8.47999093e-01 -5.40443918e-02 2.29232209e+01] [ 8.36695743e-01 5.29195890e-01 -1.41038802e-01 -2.53255313e+01] [ 1.48200846e-01 2.91418797e-02 9.88527825e-01 5.17883691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.87420609899998 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:22.87, Y:-25.27, Z:51.82 [[ 6.75144168e-01 -7.31211365e-01 -9.75207278e-02 2.28692478e+01] [ 7.21815734e-01 6.82095327e-01 -1.17166597e-01 -2.52742349e+01] [ 1.52191980e-01 8.71234910e-03 9.88312550e-01 5.18217648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90420609899998 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:22.86, Y:-25.26, Z:51.86 [[ 7.09667917e-01 -6.96444459e-01 -1.06473296e-01 2.28587572e+01] [ 6.87595972e-01 7.17590241e-01 -1.10797228e-01 -2.52571102e+01] [ 1.53568314e-01 5.41862885e-03 9.88123176e-01 5.18563748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93420609899998 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:22.93, Y:-24.66, Z:51.89 [[ 6.67065245e-01 7.29840048e-01 -1.49524122e-01 2.29250203e+01] [-6.99181559e-01 6.82600830e-01 2.12605867e-01 -2.46641611e+01] [ 2.57233566e-01 -3.72774756e-02 9.65629992e-01 5.18873648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96420609899998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:23.40, Y:-25.27, Z:51.98 [[ -0.63905611 -0.72565821 0.2550048 23.40414862] [ 0.72525154 -0.67890861 -0.11442599 -25.2744213 ] [ 0.25615912 0.111818 0.96014543 51.9769843 ] [ 0. 0. 0. 1. ]] SLAMing on 86.99420609899998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:22.93, Y:-24.66, Z:52.05 [[ 6.83336127e-01 7.13572341e-01 -1.54487057e-01 2.29267980e+01] [-6.83944889e-01 6.99682342e-01 2.06552680e-01 -2.46605114e+01] [ 2.55482145e-01 -3.54842749e-02 9.66162377e-01 5.20494172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02420609899998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:23.41, Y:-25.26, Z:52.14 [[ -0.63988069 -0.72368049 0.25853288 23.40973653] [ 0.72289564 -0.68098108 -0.11699 -25.26018445] [ 0.26071938 0.11203265 0.95889212 52.1361187 ] [ 0. 0. 0. 1. ]] SLAMing on 87.05420609899998 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:22.92, Y:-25.28, Z:52.21 [[ 5.90612212e-01 -8.04164831e-01 -6.70532550e-02 2.29233631e+01] [ 7.92567649e-01 5.93696802e-01 -1.39142475e-01 -2.52791393e+01] [ 1.51702788e-01 2.90350042e-02 9.87999612e-01 5.22129730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08420609899999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:22.87, Y:-25.22, Z:52.24 [[ 7.36598330e-01 -6.66638921e-01 -1.14085269e-01 2.28701650e+01] [ 6.57215339e-01 7.45343286e-01 -1.11943665e-01 -2.52197625e+01] [ 1.59658694e-01 7.47892805e-03 9.87143944e-01 5.22417212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11420609899999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:22.86, Y:-25.21, Z:52.28 [[ 7.50960766e-01 -6.51026256e-01 -1.10556510e-01 2.28645410e+01] [ 6.43195914e-01 7.59041475e-01 -1.00772298e-01 -2.52123550e+01] [ 1.49522389e-01 4.56654670e-03 9.88747795e-01 5.22778585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14420609899999 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:22.86, Y:-25.21, Z:52.32 [[ 7.61866385e-01 -6.38609674e-01 -1.08338798e-01 2.28585397e+01] [ 6.31217250e-01 7.69510802e-01 -9.70459130e-02 -2.52057674e+01] [ 1.45342334e-01 5.55070086e-03 9.89365855e-01 5.23225527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17420609899999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:22.86, Y:-25.19, Z:52.35 [[ 7.75320210e-01 -6.20933248e-01 -1.15414357e-01 2.28610162e+01] [ 6.13441449e-01 7.83854150e-01 -9.62406313e-02 -2.51923580e+01] [ 1.50227031e-01 3.81735582e-03 9.88644156e-01 5.23535914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20420609899999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:22.86, Y:-25.18, Z:52.40 [[ 7.83637438e-01 -6.10215310e-01 -1.16402924e-01 2.28598185e+01] [ 6.02491148e-01 7.92214018e-01 -9.69606420e-02 -2.51824346e+01] [ 1.51382896e-01 5.85025794e-03 9.88457886e-01 5.23995568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.23420609899999 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:22.86, Y:-25.17, Z:52.43 [[ 7.95151933e-01 -5.94402715e-01 -1.20078373e-01 2.28589137e+01] [ 5.87029652e-01 8.04158624e-01 -9.34082216e-02 -2.51729833e+01] [ 1.52084160e-01 3.78416249e-03 9.88360303e-01 5.24293984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26420609899998 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:22.86, Y:-25.16, Z:52.46 [[ 8.08340872e-01 -5.75873361e-01 -1.22290256e-01 2.28562288e+01] [ 5.68794101e-01 8.17532429e-01 -9.00777294e-02 -2.51635541e+01] [ 1.51849615e-01 3.25553411e-03 9.88398248e-01 5.24618710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29420609899998 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:22.86, Y:-25.16, Z:52.49 [[ 8.10992415e-01 -5.71848251e-01 -1.23615861e-01 2.28582322e+01] [ 5.64679665e-01 8.20352156e-01 -9.03283807e-02 -2.51592824e+01] [ 1.53062665e-01 3.45226839e-03 9.88210455e-01 5.24938358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32420609899998 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:22.85, Y:-25.15, Z:52.54 [[ 8.17554550e-01 -5.61515804e-01 -1.27689309e-01 2.28543260e+01] [ 5.53792734e-01 8.27449126e-01 -9.29599531e-02 -2.51514483e+01] [ 1.57854890e-01 5.28642116e-03 9.87448170e-01 5.25443512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35420609899998 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:23.04, Y:-24.55, Z:52.59 [[ 5.21516605e-01 8.44637397e-01 -1.20863966e-01 2.30448821e+01] [-8.12241998e-01 5.34833228e-01 2.32844058e-01 -2.45512617e+01] [ 2.61310864e-01 -2.32612535e-02 9.64974376e-01 5.25861824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38420609899998 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:23.40, Y:-25.27, Z:52.68 [[ -0.48562188 -0.84539304 0.22244548 23.39699601] [ 0.83352568 -0.52448994 -0.17362383 -25.26804401] [ 0.26345079 0.10109849 0.95936061 52.68495502] [ 0. 0. 0. 1. ]] SLAMing on 87.41420609899998 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:22.93, Y:-25.22, Z:52.76 [[ 6.57528972e-01 -7.48234023e-01 -8.83260892e-02 2.29316150e+01] [ 7.33021019e-01 6.62408039e-01 -1.54582587e-01 -2.52164836e+01] [ 1.74171863e-01 3.68976499e-02 9.84023742e-01 5.27577971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44420609899998 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:22.87, Y:-25.14, Z:52.79 [[ 8.19833905e-01 -5.56125474e-01 -1.36370180e-01 2.28713334e+01] [ 5.46175936e-01 8.31012707e-01 -1.05402699e-01 -2.51350170e+01] [ 1.71942478e-01 1.19305956e-02 9.85034743e-01 5.27919878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47420609899999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:22.87, Y:-25.12, Z:52.82 [[ 8.38248339e-01 -5.25133169e-01 -1.46883889e-01 2.28717042e+01] [ 5.15570041e-01 8.50980787e-01 -1.00096114e-01 -2.51181503e+01] [ 1.77559157e-01 8.17646863e-03 9.84076161e-01 5.28221047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50420609899999 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:22.86, Y:-25.09, Z:52.86 [[ 8.75719073e-01 -4.57779513e-01 -1.53473200e-01 2.28568724e+01] [ 4.49790798e-01 8.89047466e-01 -8.53395626e-02 -2.50875612e+01] [ 1.75511663e-01 5.70264976e-03 9.84460835e-01 5.28643656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53420609899999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:22.87, Y:-25.09, Z:52.90 [[ 8.66223509e-01 -4.74978672e-01 -1.55087377e-01 2.28661853e+01] [ 4.66109230e-01 8.79968748e-01 -9.16361770e-02 -2.50911885e+01] [ 1.79997275e-01 7.08975284e-03 9.83641559e-01 5.28986925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56420609899999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:23.09, Y:-24.52, Z:52.95 [[ 4.98851364e-01 8.57915312e-01 -1.22998511e-01 2.30932514e+01] [-8.30120338e-01 5.13756171e-01 2.16690612e-01 -2.45165199e+01] [ 2.49093438e-01 -5.99284145e-03 9.68460916e-01 5.29461295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.59420609899999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:22.96, Y:-24.65, Z:52.98 [[ 8.30060014e-01 5.17002523e-01 -2.09066410e-01 2.29567871e+01] [-5.00841250e-01 8.55982061e-01 1.28268285e-01 -2.46521679e+01] [ 2.45272123e-01 -1.76129192e-03 9.69452672e-01 5.29779441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62420609899998 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:22.92, Y:-24.74, Z:53.01 [[ 9.24264035e-01 3.02269117e-01 -2.33172413e-01 2.29187302e+01] [-2.92894737e-01 9.53222337e-01 7.46983823e-02 -2.47370017e+01] [ 2.44844167e-01 -7.46055645e-04 9.69562158e-01 5.30091941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65420609899998 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:22.91, Y:-24.79, Z:53.04 [[ 9.55645048e-01 1.63007659e-01 -2.45297872e-01 2.29099126e+01] [-1.58262071e-01 9.86623693e-01 3.90743463e-02 -2.47922000e+01] [ 2.48386110e-01 1.48014375e-03 9.68659976e-01 5.30409498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68420609899998 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:22.91, Y:-24.82, Z:53.07 [[ 9.62264345e-01 1.04434719e-01 -2.51278170e-01 2.29055683e+01] [-1.01435415e-01 9.94530564e-01 2.48960609e-02 -2.48154744e+01] [ 2.52503834e-01 1.53191382e-03 9.67594681e-01 5.30721361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71420609899998 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:22.90, Y:-24.83, Z:53.10 [[ 9.68297258e-01 5.53362779e-02 -2.43594575e-01 2.29007948e+01] [-5.40425189e-02 9.98466573e-01 1.19961657e-02 -2.48344652e+01] [ 2.43884864e-01 1.54861014e-03 9.69802957e-01 5.31037773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74420609899998 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:22.90, Y:-24.85, Z:53.14 [[ 9.67016184e-01 2.27237710e-02 -2.53699290e-01 2.29042032e+01] [-2.25526061e-02 9.99739236e-01 3.58341723e-03 -2.48476898e+01] [ 2.53714563e-01 2.25635768e-03 9.67276501e-01 5.31351997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.77420609899998 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:22.90, Y:-24.87, Z:53.17 [[ 9.66791516e-01 -4.49017712e-02 -2.51590927e-01 2.29021450e+01] [ 4.28318497e-02 9.98988355e-01 -1.37003258e-02 -2.48730545e+01] [ 2.51951575e-01 2.46925402e-03 9.67736693e-01 5.31666641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80420609899998 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:22.91, Y:-24.93, Z:53.20 [[ 9.50590985e-01 -1.87729947e-01 -2.47253406e-01 2.29113798e+01] [ 1.79813407e-01 9.82193689e-01 -5.44306574e-02 -2.49284217e+01] [ 2.53069000e-01 7.28181475e-03 9.67420827e-01 5.31987616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.83420609899999 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:22.91, Y:-24.90, Z:53.23 [[ 9.59801042e-01 -1.21148731e-01 -2.53189541e-01 2.29101963e+01] [ 1.15901845e-01 9.92622669e-01 -3.55949360e-02 -2.49021049e+01] [ 2.55633959e-01 4.81892179e-03 9.66761634e-01 5.32299137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86420609899999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:22.91, Y:-24.92, Z:53.26 [[ 9.52828485e-01 -1.67802230e-01 -2.52903718e-01 2.29129552e+01] [ 1.60288983e-01 9.85793839e-01 -5.01791589e-02 -2.49201388e+01] [ 2.57731102e-01 7.27445221e-03 9.66189299e-01 5.32620978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89420609899999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:22.92, Y:-24.94, Z:53.30 [[ 9.43543281e-01 -2.27591370e-01 -2.40682875e-01 2.29150028e+01] [ 2.18008238e-01 9.73706515e-01 -6.60910807e-02 -2.49433089e+01] [ 2.49396243e-01 9.88894565e-03 9.68351033e-01 5.32959045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92420609899999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:22.91, Y:-24.84, Z:53.33 [[ 9.65518134e-01 3.05848033e-02 -2.58532983e-01 2.29107635e+01] [-3.10251018e-02 9.99515778e-01 2.37762720e-03 -2.48406086e+01] [ 2.58480515e-01 5.72536996e-03 9.65999505e-01 5.33284530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.95420609899999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:22.91, Y:-24.89, Z:53.36 [[ 9.63780413e-01 -8.69089176e-02 -2.52139158e-01 2.29092835e+01] [ 8.25285000e-02 9.96197600e-01 -2.79175330e-02 -2.48862527e+01] [ 2.53606706e-01 6.09770501e-03 9.67288197e-01 5.33612098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98420609899998 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:22.91, Y:-24.87, Z:53.40 [[ 9.68053706e-01 -3.56000541e-02 -2.48202858e-01 2.29092104e+01] [ 3.24217992e-02 9.99331685e-01 -1.68822358e-02 -2.48660237e+01] [ 2.48637989e-01 8.29572766e-03 9.68560959e-01 5.33961749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01420609899998 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:22.91, Y:-24.81, Z:53.43 [[ 9.61517229e-01 9.93374027e-02 -2.56157568e-01 2.29147391e+01] [-9.76665579e-02 9.95032639e-01 1.92689206e-02 -2.48130835e+01] [ 2.56799265e-01 6.49062878e-03 9.66442967e-01 5.34259596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04420609899998 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:22.92, Y:-24.81, Z:53.46 [[ 9.61191810e-01 1.01274811e-01 -2.56619791e-01 2.29151335e+01] [-9.98169697e-02 9.94829409e-01 1.87355236e-02 -2.48115749e+01] [ 2.57190351e-01 7.60657809e-03 9.66330825e-01 5.34590711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07420609899998 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:22.92, Y:-24.77, Z:53.49 [[ 9.46398557e-01 1.97620289e-01 -2.55491668e-01 2.29229567e+01] [-1.92670903e-01 9.80252987e-01 4.45197082e-02 -2.47741184e+01] [ 2.59244468e-01 7.09242270e-03 9.65785692e-01 5.34917905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10420609899998 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:22.93, Y:-24.76, Z:53.53 [[ 9.39167686e-01 2.32488378e-01 -2.52810626e-01 2.29268976e+01] [-2.26645756e-01 9.72565702e-01 5.24180976e-02 -2.47597303e+01] [ 2.58061543e-01 8.06907213e-03 9.66094783e-01 5.35271427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13420609899998 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:22.93, Y:-24.74, Z:53.56 [[ 9.24724942e-01 2.84414325e-01 -2.52966941e-01 2.29345771e+01] [-2.76606230e-01 9.58665612e-01 6.67026005e-02 -2.47401108e+01] [ 2.61481882e-01 8.29067347e-03 9.65172777e-01 5.35570904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.16420609899998 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:23.33, Y:-24.47, Z:53.56 [[-5.76162315e-02 9.97684366e-01 -3.61424398e-02 2.33278801e+01] [-9.59395686e-01 -4.53196860e-02 2.78399074e-01 -2.44677209e+01] [ 2.76116440e-01 5.07152064e-02 9.59785226e-01 5.35589322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.19420609899998 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:23.69, Y:-24.80, Z:53.59 [[-9.64625890e-01 1.46013773e-01 2.19492300e-01 2.36943657e+01] [-1.38532596e-01 -9.89135853e-01 4.91831777e-02 -2.48043420e+01] [ 2.24289125e-01 1.70365284e-02 9.74373719e-01 5.35855420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22420609899999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:23.69, Y:-24.89, Z:53.59 [[-9.70833696e-01 -7.27727501e-02 2.28442688e-01 2.36938199e+01] [ 7.41869010e-02 -9.97241461e-01 -2.40261716e-03 -2.48903677e+01] [ 2.27987365e-01 1.46149134e-02 9.73554398e-01 5.35883216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25420609899999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:23.68, Y:-24.96, Z:53.58 [[-9.36576656e-01 -2.63288249e-01 2.31308160e-01 2.36781621e+01] [ 2.60697870e-01 -9.64494769e-01 -4.22665544e-02 -2.49642844e+01] [ 2.34223797e-01 2.07156764e-02 9.71961971e-01 5.35821339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28420609899999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:23.64, Y:-25.07, Z:53.59 [[-8.27592102e-01 -5.24310897e-01 2.00472931e-01 2.36351706e+01] [ 5.14083090e-01 -8.51363847e-01 -1.04394331e-01 -2.50669538e+01] [ 2.25410491e-01 1.66638197e-02 9.74121362e-01 5.35891888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.31420609899999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:23.59, Y:-25.13, Z:53.59 [[-7.05589754e-01 -6.86431350e-01 1.75940617e-01 2.35852197e+01] [ 6.72193134e-01 -7.26941121e-01 -1.40402979e-01 -2.51296544e+01] [ 2.24275475e-01 1.91991712e-02 9.74336648e-01 5.35930905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34420609899999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:23.51, Y:-25.19, Z:53.60 [[-5.25158484e-01 -8.40390970e-01 1.33983521e-01 2.35104090e+01] [ 8.20838299e-01 -5.41772918e-01 -1.80849641e-01 -2.51866413e+01] [ 2.24573049e-01 1.50040824e-02 9.74341739e-01 5.35979017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.37420609899998 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:23.00, Y:-25.10, Z:53.59 [[ 7.52937826e-01 -6.30557188e-01 -1.88367362e-01 2.29967632e+01] [ 6.03381627e-01 7.75721904e-01 -1.84894943e-01 -2.50954140e+01] [ 2.62707524e-01 2.55569907e-02 9.64536986e-01 5.35862046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40420609899998 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:22.92, Y:-24.78, Z:53.63 [[ 9.54737177e-01 1.70344779e-01 -2.43843350e-01 2.29158466e+01] [-1.70698537e-01 9.85123492e-01 1.98422636e-02 -2.47771285e+01] [ 2.43595839e-01 2.26795566e-02 9.69611626e-01 5.36291657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43420609899998 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:23.10, Y:-24.51, Z:53.66 [[ 5.27954217e-01 8.38992831e-01 -1.31739799e-01 2.30957840e+01] [-8.15774602e-01 5.44128038e-01 1.96052233e-01 -2.45136613e+01] [ 2.36169737e-01 3.96337894e-03 9.71703734e-01 5.36647493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46420609899998 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:23.11, Y:-24.51, Z:53.70 [[ 5.06906817e-01 8.52546738e-01 -1.27316686e-01 2.31051526e+01] [-8.29025113e-01 5.22629798e-01 1.98935808e-01 -2.45085058e+01] [ 2.36141568e-01 4.70681309e-03 9.71707263e-01 5.36979030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49420609899998 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:23.11, Y:-24.51, Z:53.73 [[ 4.90661923e-01 8.62724664e-01 -1.22298946e-01 2.31132981e+01] [-8.38879702e-01 5.05660113e-01 2.01466362e-01 -2.45051832e+01] [ 2.35651698e-01 3.74223096e-03 9.71830373e-01 5.37309971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.52420609899998 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:23.12, Y:-24.50, Z:53.76 [[ 4.82670772e-01 8.67540221e-01 -1.20012044e-01 2.31162789e+01] [-8.43836861e-01 4.97350648e-01 2.01448963e-01 -2.45026668e+01] [ 2.34453145e-01 4.03705994e-03 9.72119038e-01 5.37643574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.55420609899998 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:23.12, Y:-24.51, Z:53.80 [[ 4.86951190e-01 8.64742842e-01 -1.22875371e-01 2.31170375e+01] [-8.40769904e-01 5.02191793e-01 2.02260655e-01 -2.45077591e+01] [ 2.36610456e-01 4.81884688e-03 9.71592646e-01 5.37964646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58420609899999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:23.12, Y:-24.50, Z:53.83 [[ 4.78056457e-01 8.70060654e-01 -1.20235109e-01 2.31197921e+01] [-8.45834173e-01 4.92926715e-01 2.03930883e-01 -2.45026245e+01] [ 2.36699335e-01 4.20848851e-03 9.71573833e-01 5.38285937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61420609899999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:23.13, Y:-24.50, Z:53.86 [[ 4.60346624e-01 8.80184404e-01 -1.15569900e-01 2.31307204e+01] [-8.56042729e-01 4.74608993e-01 2.04785617e-01 -2.45021293e+01] [ 2.35099620e-01 4.66040525e-03 9.71960107e-01 5.38588188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64420609899999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:23.13, Y:-24.50, Z:53.89 [[ 4.64813875e-01 8.77694627e-01 -1.16619909e-01 2.31278282e+01] [-8.53707985e-01 4.79196224e-01 2.03847135e-01 -2.45008894e+01] [ 2.34799355e-01 4.80837033e-03 9.72031966e-01 5.38908990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67420609899999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:23.15, Y:-24.49, Z:53.92 [[ 4.15486220e-01 9.03556444e-01 -1.04675465e-01 2.31480418e+01] [-8.79104291e-01 4.28436948e-01 2.08847858e-01 -2.44910801e+01] [ 2.33552664e-01 5.24724352e-03 9.72329995e-01 5.39242454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70420609899999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:23.15, Y:-24.49, Z:53.96 [[ 4.10463056e-01 9.06128783e-01 -1.02228709e-01 2.31512592e+01] [-8.81628777e-01 4.22981007e-01 2.09326939e-01 -2.44907520e+01] [ 2.32917967e-01 4.20679679e-03 9.72487287e-01 5.39570629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.73420609899998 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:23.15, Y:-24.50, Z:53.99 [[ 4.23278390e-01 8.99735678e-01 -1.06353721e-01 2.31489405e+01] [-8.75123984e-01 4.36411146e-01 2.09053403e-01 -2.44985691e+01] [ 2.34506755e-01 4.58490457e-03 9.72103678e-01 5.39882400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76420609899998 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:23.15, Y:-24.50, Z:54.02 [[ 4.28979071e-01 8.96782798e-01 -1.08432330e-01 2.31472668e+01] [-8.72110395e-01 4.42443647e-01 2.08966689e-01 -2.45009475e+01] [ 2.35372928e-01 4.92262659e-03 9.71892665e-01 5.40195317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79420609899998 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:23.15, Y:-24.50, Z:54.05 [[ 4.18610205e-01 9.02126400e-01 -1.04563165e-01 2.31520846e+01] [-8.77597184e-01 4.31450601e-01 2.08982201e-01 -2.44977763e+01] [ 2.33642201e-01 4.28225751e-03 9.72313213e-01 5.40510886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82420609899998 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:23.14, Y:-24.51, Z:54.08 [[ 4.50498410e-01 8.85541122e-01 -1.13437668e-01 2.31394742e+01] [-8.61488844e-01 4.64530225e-01 2.05057656e-01 -2.45050795e+01] [ 2.34282212e-01 5.34713783e-03 9.72153925e-01 5.40824701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85420609899998 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:23.14, Y:-24.50, Z:54.12 [[ 4.46211851e-01 8.87684424e-01 -1.13628108e-01 2.31396940e+01] [-8.63936351e-01 4.60397524e-01 2.04078663e-01 -2.45021080e+01] [ 2.33471550e-01 7.10513464e-03 9.72337674e-01 5.41161040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88420609899998 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:23.19, Y:-24.48, Z:54.15 [[ 3.31797921e-01 9.39646974e-01 -8.35087105e-02 2.31883261e+01] [-9.14119571e-01 3.42120412e-01 2.17575351e-01 -2.44824460e+01] [ 2.33014054e-01 4.14589771e-03 9.72464530e-01 5.41487659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.91420609899998 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:23.19, Y:-24.49, Z:54.18 [[ 3.32692508e-01 9.39266593e-01 -8.42256631e-02 2.31898408e+01] [-9.13814213e-01 3.43156241e-01 2.17226561e-01 -2.44867301e+01] [ 2.32936214e-01 4.69695852e-03 9.72480673e-01 5.41802056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94420609899998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:23.18, Y:-24.49, Z:54.21 [[ 3.64299243e-01 9.26698012e-01 -9.22868106e-02 2.31753740e+01] [-9.01768004e-01 3.75767812e-01 2.13572045e-01 -2.44890463e+01] [ 2.32595203e-01 5.41715868e-03 9.72558546e-01 5.42128960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97420609899999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:23.20, Y:-24.49, Z:54.24 [[ 3.15203851e-01 9.45511836e-01 -8.15714500e-02 2.31978090e+01] [-9.17249292e-01 3.25578175e-01 2.29461520e-01 -2.44893657e+01] [ 2.43516466e-01 2.49420019e-03 9.69893556e-01 5.42436340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00420609899999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:23.14, Y:-24.51, Z:54.28 [[ 4.45072674e-01 8.87526175e-01 -1.19195650e-01 2.31445300e+01] [-8.60637490e-01 4.60717560e-01 2.16892691e-01 -2.45123401e+01] [ 2.47413470e-01 6.05123509e-03 9.68891097e-01 5.42751764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03420609899999 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:23.12, Y:-24.52, Z:54.31 [[ 5.08459933e-01 8.51149424e-01 -1.30434480e-01 2.31194299e+01] [-8.29024221e-01 5.24828821e-01 1.93063589e-01 -2.45248364e+01] [ 2.32781737e-01 9.96824316e-03 9.72477916e-01 5.43073888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06420609899999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:23.15, Y:-24.50, Z:54.34 [[ 4.28084635e-01 8.97257737e-01 -1.08037487e-01 2.31509781e+01] [-8.75613837e-01 4.41379403e-01 1.96175003e-01 -2.45043211e+01] [ 2.23705060e-01 1.06196139e-02 9.74599030e-01 5.43404923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.09420609899999 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:23.24, Y:-24.48, Z:54.37 [[ 2.14369872e-01 9.75355937e-01 -5.22144966e-02 2.32412188e+01] [-9.50565176e-01 2.20619631e-01 2.18524196e-01 -2.44757963e+01] [ 2.24658415e-01 2.78827816e-03 9.74433590e-01 5.43740846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12420609899998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:23.25, Y:-24.47, Z:54.41 [[ 1.92095712e-01 9.80126923e-01 -4.95020333e-02 2.32505082e+01] [-9.55525750e-01 1.98298735e-01 2.18284567e-01 -2.44731477e+01] [ 2.23762771e-01 5.36893827e-03 9.74628851e-01 5.44065587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15420609899998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:23.25, Y:-24.47, Z:54.44 [[ 1.84991981e-01 9.81574664e-01 -4.78450248e-02 2.32536639e+01] [-9.56926354e-01 1.91004493e-01 2.18653234e-01 -2.44731505e+01] [ 2.23763089e-01 5.33507023e-03 9.74628964e-01 5.44383889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18420609899998 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:23.26, Y:-24.47, Z:54.47 [[ 1.75467585e-01 9.83392482e-01 -4.63719052e-02 2.32574140e+01] [-9.58987333e-01 1.81384001e-01 2.17814458e-01 -2.44740683e+01] [ 2.22608222e-01 6.25069263e-03 9.74887946e-01 5.44697048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21420609899998 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:23.25, Y:-24.48, Z:54.50 [[ 1.87971864e-01 9.80973899e-01 -4.85467643e-02 2.32528504e+01] [-9.56613841e-01 1.94059196e-01 2.17326914e-01 -2.44784599e+01] [ 2.22612976e-01 5.58916148e-03 9.74890878e-01 5.44996764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24420609899998 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:23.23, Y:-24.49, Z:54.53 [[ 2.41009589e-01 9.68577062e-01 -6.14235574e-02 2.32315339e+01] [-9.43841129e-01 2.48651979e-01 2.17568648e-01 -2.44865797e+01] [ 2.26005091e-01 5.53794922e-03 9.74110379e-01 5.45299024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.27420609899998 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:23.23, Y:-24.48, Z:54.56 [[ 2.39286267e-01 9.68961428e-01 -6.20953517e-02 2.32318738e+01] [-9.44390831e-01 2.47120208e-01 2.16927548e-01 -2.44818477e+01] [ 2.25539443e-01 6.73449748e-03 9.74210761e-01 5.45618269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30420609899998 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:23.25, Y:-24.48, Z:54.59 [[ 1.83629658e-01 9.81808722e-01 -4.82885218e-02 2.32549524e+01] [-9.56735979e-01 1.89787038e-01 2.20538310e-01 -2.44772423e+01] [ 2.25690972e-01 5.70199179e-03 9.74182258e-01 5.45942100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.33420609899999 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:23.25, Y:-24.48, Z:54.62 [[ 1.92047531e-01 9.80068722e-01 -5.08236747e-02 2.32523608e+01] [-9.54582771e-01 1.98572414e-01 2.22127734e-01 -2.44824737e+01] [ 2.27792624e-01 5.85632136e-03 9.73692058e-01 5.46247748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36420609899999 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:23.24, Y:-24.48, Z:54.66 [[ 2.14757275e-01 9.75028730e-01 -5.65534164e-02 2.32429478e+01] [-9.49636674e-01 2.21991906e-01 2.21155557e-01 -2.44837213e+01] [ 2.28187423e-01 6.21043356e-03 9.73597417e-01 5.46560830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39420609899999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:23.24, Y:-24.48, Z:54.69 [[ 2.20874458e-01 9.73520926e-01 -5.89192767e-02 2.32400414e+01] [-9.47902455e-01 2.28496091e-01 2.21969532e-01 -2.44820295e+01] [ 2.29554809e-01 6.82232685e-03 9.73271825e-01 5.46887243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42420609899999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:23.27, Y:-24.48, Z:54.72 [[ 1.53997909e-01 9.87163096e-01 -4.23517051e-02 2.32681492e+01] [-9.61038713e-01 1.59604666e-01 2.25678850e-01 -2.44775264e+01] [ 2.29541362e-01 5.94755722e-03 9.73280735e-01 5.47213905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.45420609899999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:23.28, Y:-24.48, Z:54.75 [[ 1.36021139e-01 9.89905998e-01 -3.98040812e-02 2.32760899e+01] [-9.63729211e-01 1.41522479e-01 2.26268413e-01 -2.44766564e+01] [ 2.29617632e-01 7.58306853e-03 9.73251376e-01 5.47533529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48420609899998 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:23.27, Y:-24.48, Z:54.78 [[ 1.35905880e-01 9.90024553e-01 -3.71614967e-02 2.32749599e+01] [-9.60923771e-01 1.40855740e-01 2.38296385e-01 -2.44849029e+01] [ 2.41153682e-01 3.32348565e-03 9.70481250e-01 5.47826810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51420609899998 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:23.19, Y:-24.50, Z:54.81 [[ 3.39058722e-01 9.36380301e-01 -9.07254908e-02 2.31910213e+01] [-9.11722175e-01 3.50837292e-01 2.13719138e-01 -2.44988937e+01] [ 2.31952276e-01 1.02531039e-02 9.72673129e-01 5.48130486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54420609899998 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:23.27, Y:-24.48, Z:54.84 [[ 1.62218131e-01 9.85709449e-01 -4.54110173e-02 2.32662074e+01] [-9.58462904e-01 1.68341148e-01 2.30239265e-01 -2.44845517e+01] [ 2.34593562e-01 6.17579206e-03 9.72073927e-01 5.48442369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57420609899998 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:23.27, Y:-24.48, Z:54.88 [[ 1.42610677e-01 9.88915183e-01 -4.13395088e-02 2.32741588e+01] [-9.61364174e-01 1.48331573e-01 2.31897974e-01 -2.44796011e+01] [ 2.35459381e-01 6.67119565e-03 9.71861294e-01 5.48770023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60420609899998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:23.28, Y:-24.48, Z:54.91 [[ 1.19652699e-01 9.92243994e-01 -3.36910612e-02 2.32838866e+01] [-9.61649476e-01 1.24265780e-01 2.44516465e-01 -2.44849091e+01] [ 2.46806640e-01 3.14193646e-03 9.69059653e-01 5.49072905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63420609899998 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:23.19, Y:-24.51, Z:54.94 [[ 3.56472423e-01 9.29478442e-01 -9.48537667e-02 2.31853915e+01] [-9.03661924e-01 3.68787197e-01 2.17695038e-01 -2.45056688e+01] [ 2.37323700e-01 8.11345958e-03 9.71396743e-01 5.49374095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.66420609899998 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:23.22, Y:-24.50, Z:54.97 [[ 2.83167150e-01 9.55956065e-01 -7.72293098e-02 2.32166593e+01] [-9.29014625e-01 2.93403582e-01 2.25490939e-01 -2.44963403e+01] [ 2.38218787e-01 7.89553150e-03 9.71179422e-01 5.49698999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.69420609899998 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:23.24, Y:-24.49, Z:55.00 [[ 2.21900988e-01 9.73117219e-01 -6.16670819e-02 2.32423085e+01] [-9.45128621e-01 2.30208668e-01 2.31809965e-01 -2.44913621e+01] [ 2.39774565e-01 6.84446391e-03 9.70804466e-01 5.50027276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72420609899999 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:23.26, Y:-24.49, Z:55.03 [[ 1.85476626e-01 9.81240166e-01 -5.25942787e-02 2.32576633e+01] [-9.52794851e-01 1.92676674e-01 2.34643712e-01 -2.44893149e+01] [ 2.40375525e-01 6.59063395e-03 9.70657597e-01 5.50349998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75420609899999 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:23.27, Y:-24.49, Z:55.07 [[ 1.48936623e-01 9.87870824e-01 -4.39217151e-02 2.32732034e+01] [-9.58998891e-01 1.55129156e-01 2.37183624e-01 -2.44864654e+01] [ 2.41120320e-01 6.79554820e-03 9.70471438e-01 5.50669097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78420609899999 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:23.28, Y:-24.49, Z:55.10 [[ 1.44375963e-01 9.88567920e-01 -4.34631820e-02 2.32750176e+01] [-9.59423654e-01 1.50600214e-01 2.38381683e-01 -2.44864130e+01] [ 2.42202049e-01 7.28301986e-03 9.70198498e-01 5.50988305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.81420609899999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:23.27, Y:-24.49, Z:55.13 [[ 1.66694315e-01 9.84739701e-01 -5.00072675e-02 2.32659160e+01] [-9.55236673e-01 1.73855757e-01 2.39368074e-01 -2.44893922e+01] [ 2.44409297e-01 7.86747869e-03 9.69640242e-01 5.51304545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84420609899999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:23.27, Y:-24.48, Z:55.13 [[ 1.51214111e-01 9.87132060e-01 -5.20056608e-02 2.32715274e+01] [-9.55358966e-01 1.59450728e-01 2.48726177e-01 -2.44805987e+01] [ 2.53817924e-01 1.20731666e-02 9.67176664e-01 5.51332174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.87420609899998 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:23.72, Y:-24.79, Z:55.13 [[-9.35768750e-01 2.40270971e-01 2.58082752e-01 2.37243261e+01] [-2.16443620e-01 -9.69196739e-01 1.17515279e-01 -2.47910050e+01] [ 2.78368472e-01 5.41067608e-02 9.58949140e-01 5.51321654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90420609899998 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:23.53, Y:-25.24, Z:55.19 [[-5.01105056e-01 -8.52852368e-01 1.46753401e-01 2.35301750e+01] [ 8.34044885e-01 -5.21186727e-01 -1.80924090e-01 -2.52381748e+01] [ 2.30787463e-01 3.17369472e-02 9.72486459e-01 5.51886143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93420609899998 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:23.39, Y:-25.28, Z:55.22 [[-1.89254828e-01 -9.79900365e-01 6.30704748e-02 2.33925449e+01] [ 9.53923536e-01 -1.98708227e-01 -2.24821994e-01 -2.52841184e+01] [ 2.32835776e-01 1.76157626e-02 9.72356512e-01 5.52240278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96420609899998 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:23.33, Y:-25.29, Z:55.26 [[-5.35225066e-02 -9.98207295e-01 2.67868783e-02 2.33326200e+01] [ 9.71968390e-01 -5.82282733e-02 -2.27787000e-01 -2.52899658e+01] [ 2.28938399e-01 1.38442677e-02 9.73342461e-01 5.52590303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99420609899998 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:23.29, Y:-25.28, Z:55.29 [[ 5.03700789e-02 -9.98725966e-01 -3.04970619e-03 2.32877086e+01] [ 9.71281147e-01 4.96964497e-02 -2.32686907e-01 -2.52844177e+01] [ 2.32542015e-01 8.75833572e-03 9.72546915e-01 5.52946941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.02420609899998 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:23.23, Y:-25.27, Z:55.37 [[ 1.60035552e-01 -9.86950868e-01 -1.77934374e-02 2.32276743e+01] [ 9.58536157e-01 1.59683358e-01 -2.36028942e-01 -2.52692711e+01] [ 2.35790285e-01 2.07173690e-02 9.71583106e-01 5.53688744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.05420609899998 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:23.11, Y:-25.23, Z:55.40 [[ 4.30374948e-01 -8.97859819e-01 -9.28716869e-02 2.31118472e+01] [ 8.71928209e-01 4.40135119e-01 -2.14528029e-01 -2.52286143e+01] [ 2.33492188e-01 1.13500458e-02 9.72292433e-01 5.54037701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08420609899999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:23.08, Y:-25.20, Z:55.44 [[ 5.20255657e-01 -8.45563390e-01 -1.19819046e-01 2.30752635e+01] [ 8.20548350e-01 5.33815471e-01 -2.04307241e-01 -2.52005837e+01] [ 2.36715984e-01 7.97467712e-03 9.71546163e-01 5.54390160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11420609899999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:23.04, Y:-25.18, Z:55.49 [[ 5.91019448e-01 -7.94973321e-01 -1.36797042e-01 2.30449581e+01] [ 7.70896790e-01 6.06571012e-01 -1.94395849e-01 -2.51755390e+01] [ 2.37516634e-01 9.43532651e-03 9.71337646e-01 5.54916556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14420609899999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:23.00, Y:-25.12, Z:55.56 [[ 7.02595657e-01 -6.89011926e-01 -1.77825499e-01 2.29979177e+01] [ 6.64430185e-01 7.24678201e-01 -1.82685615e-01 -2.51188671e+01] [ 2.54738830e-01 1.02014907e-02 9.66956079e-01 5.55616266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17420609899999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:23.01, Y:-25.13, Z:55.60 [[ 6.75151137e-01 -7.21145939e-01 -1.55304467e-01 2.30067757e+01] [ 6.97055113e-01 6.92572852e-01 -1.85626006e-01 -2.51322648e+01] [ 2.41423098e-01 1.70698364e-02 9.70269812e-01 5.55962869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20420609899999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:22.94, Y:-25.05, Z:55.63 [[ 8.31085802e-01 -5.18783013e-01 -2.00401036e-01 2.29432338e+01] [ 5.01754872e-01 8.54855618e-01 -1.32151129e-01 -2.50465164e+01] [ 2.39871712e-01 9.27673102e-03 9.70760271e-01 5.56313928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.23420609899998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:22.92, Y:-25.00, Z:55.67 [[ 8.87031926e-01 -4.07688128e-01 -2.16713526e-01 2.29226710e+01] [ 3.94243045e-01 9.13095392e-01 -1.04063571e-01 -2.49974192e+01] [ 2.40305605e-01 6.86990891e-03 9.70672973e-01 5.56744611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26420609899998 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:22.91, Y:-24.95, Z:55.74 [[ 9.19568140e-01 -3.22393601e-01 -2.24625916e-01 2.29107071e+01] [ 3.09808909e-01 9.46511646e-01 -9.01894877e-02 -2.49518664e+01] [ 2.41687560e-01 1.33442693e-02 9.70262363e-01 5.57435628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29420609899998 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:22.90, Y:-24.86, Z:55.78 [[ 9.64532681e-01 -1.03042254e-01 -2.43020579e-01 2.29001083e+01] [ 9.81776598e-02 9.94651775e-01 -3.20779376e-02 -2.48612219e+01] [ 2.45026234e-01 7.08102736e-03 9.69490590e-01 5.57768437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32420609899998 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:22.90, Y:-24.81, Z:55.81 [[ 9.68911417e-01 2.51301697e-02 -2.46128301e-01 2.29009884e+01] [-2.55495550e-02 9.99672447e-01 1.48980333e-03 -2.48087771e+01] [ 2.46085120e-01 4.84498110e-03 9.69236112e-01 5.58069999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35420609899998 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:22.90, Y:-24.79, Z:55.84 [[ 9.66243961e-01 7.58719463e-02 -2.46203281e-01 2.29042964e+01] [-7.43303067e-02 9.97112231e-01 1.55628944e-02 -2.47880849e+01] [ 2.46673089e-01 3.26281263e-03 9.69093257e-01 5.58403015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38420609899998 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:22.91, Y:-24.78, Z:55.87 [[ 9.64027496e-01 9.35635890e-02 -2.48790759e-01 2.29086308e+01] [-9.12433093e-02 9.95609955e-01 2.08680647e-02 -2.47808359e+01] [ 2.49651048e-01 2.58310401e-03 9.68332423e-01 5.58709809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.41420609899998 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:22.91, Y:-24.77, Z:55.90 [[ 9.59307317e-01 1.29197447e-01 -2.51072683e-01 2.29119152e+01] [-1.25505567e-01 9.91616811e-01 3.07319453e-02 -2.47661851e+01] [ 2.52938382e-01 2.02963929e-03 9.67480261e-01 5.59027956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44420609899998 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:22.92, Y:-24.76, Z:55.93 [[ 9.55326652e-01 1.55341264e-01 -2.51436037e-01 2.29155275e+01] [-1.50519912e-01 9.87860204e-01 3.84183946e-02 -2.47556660e+01] [ 2.54351617e-01 1.14401392e-03 9.67111134e-01 5.59343430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47420609899999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:22.92, Y:-24.76, Z:55.97 [[ 9.54362194e-01 1.59201569e-01 -2.52680952e-01 2.29190356e+01] [-1.54076582e-01 9.87245861e-01 4.00751408e-02 -2.47553701e+01] [ 2.55838249e-01 6.86018218e-04 9.66719359e-01 5.59665822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50420609899999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:22.92, Y:-24.76, Z:56.00 [[ 9.54664436e-01 1.55359760e-01 -2.53927469e-01 2.29204196e+01] [-1.50496302e-01 9.87857005e-01 3.85927496e-02 -2.47566224e+01] [ 2.56839790e-01 1.37201970e-03 9.66453020e-01 5.59986614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53420609899999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:22.93, Y:-24.74, Z:56.03 [[ 9.49066765e-01 1.83187920e-01 -2.56348322e-01 2.29251673e+01] [-1.77440938e-01 9.83075388e-01 4.55795424e-02 -2.47445961e+01] [ 2.60359348e-01 2.22865775e-03 9.65509214e-01 5.60323964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56420609899999 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:22.92, Y:-24.77, Z:56.06 [[ 9.59074789e-01 1.24550437e-01 -2.54288690e-01 2.29214486e+01] [-1.21439343e-01 9.92204955e-01 2.79609291e-02 -2.47674281e+01] [ 2.55789045e-01 4.06402929e-03 9.66724081e-01 5.60644684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.59420609899999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:22.93, Y:-24.74, Z:56.10 [[ 9.45592842e-01 1.99541812e-01 -2.56977123e-01 2.29304877e+01] [-1.93349116e-01 9.79884842e-01 4.94147372e-02 -2.47379758e+01] [ 2.61668293e-01 2.96007770e-03 9.65153326e-01 5.60978189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62420609899998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:22.93, Y:-24.75, Z:56.13 [[ 9.51068224e-01 1.70350709e-01 -2.57778720e-01 2.29292279e+01] [-1.65197651e-01 9.85379117e-01 4.16861200e-02 -2.47501436e+01] [ 2.61111027e-01 2.93809485e-03 9.65304304e-01 5.61296708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65420609899998 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:22.92, Y:-24.79, Z:56.16 [[ 9.64238100e-01 6.27450885e-02 -2.57503280e-01 2.29229655e+01] [-6.25989371e-02 9.98000196e-01 8.77398671e-03 -2.47921197e+01] [ 2.57538849e-01 7.65921939e-03 9.66237589e-01 5.61614712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68420609899998 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:22.93, Y:-24.74, Z:56.19 [[ 9.48310424e-01 1.90494860e-01 -2.53809077e-01 2.29316821e+01] [-1.85417718e-01 9.81673750e-01 4.40104371e-02 -2.47410728e+01] [ 2.57541471e-01 5.32514374e-03 9.66252572e-01 5.61945496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71420609899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:22.94, Y:-24.72, Z:56.23 [[ 9.37483799e-01 2.38624606e-01 -2.53342503e-01 2.29382206e+01] [-2.31659948e-01 9.71099804e-01 5.74355261e-02 -2.47223457e+01] [ 2.59726385e-01 4.84443592e-03 9.65670097e-01 5.62269797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74420609899998 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:22.93, Y:-24.73, Z:56.26 [[ 9.45307292e-01 2.07892897e-01 -2.51345711e-01 2.29349678e+01] [-2.02587307e-01 9.78130706e-01 4.71031222e-02 -2.47340345e+01] [ 2.55641363e-01 6.39252578e-03 9.66750552e-01 5.62598838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77420609899998 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:22.94, Y:-24.71, Z:56.29 [[ 9.30854015e-01 2.69248030e-01 -2.47014778e-01 2.29416579e+01] [-2.61435076e-01 9.63060384e-01 6.45476422e-02 -2.47096612e+01] [ 2.55269473e-01 4.49389539e-03 9.66859504e-01 5.62918826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80420609899998 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:22.94, Y:-24.71, Z:56.32 [[ 9.32784245e-01 2.61784771e-01 -2.47754486e-01 2.29423538e+01] [-2.54654963e-01 9.65106391e-01 6.09959401e-02 -2.47123939e+01] [ 2.55077246e-01 6.19585762e-03 9.66900827e-01 5.63242299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.83420609899999 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:22.95, Y:-24.69, Z:56.36 [[ 9.19968191e-01 3.06554744e-01 -2.44300463e-01 2.29487849e+01] [-2.98096691e-01 9.51829143e-01 7.18306707e-02 -2.46946926e+01] [ 2.54552333e-01 6.74322730e-03 9.67035490e-01 5.63579603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86420609899999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:22.98, Y:-24.63, Z:56.39 [[ 8.46619591e-01 4.83639302e-01 -2.22099739e-01 2.29815305e+01] [-4.68026724e-01 8.75267081e-01 1.21895537e-01 -2.46253591e+01] [ 2.53350063e-01 7.49463976e-04 9.67374376e-01 5.63901047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89420609899999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:22.96, Y:-24.66, Z:56.42 [[ 8.92354153e-01 3.86150268e-01 -2.33649386e-01 2.29616337e+01] [-3.74494598e-01 9.22429541e-01 9.42206844e-02 -2.46626821e+01] [ 2.51908439e-01 3.42221398e-03 9.67745022e-01 5.64227568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92420609899999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:22.97, Y:-24.65, Z:56.46 [[ 8.74011998e-01 4.28112119e-01 -2.29832635e-01 2.29722705e+01] [-4.15248322e-01 9.03715284e-01 1.04247380e-01 -2.46460747e+01] [ 2.52332832e-01 4.32415447e-03 9.67630841e-01 5.64564443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.95420609899999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:22.98, Y:-24.64, Z:56.49 [[ 8.65054316e-01 4.46762142e-01 -2.28220547e-01 2.29765502e+01] [-4.33011902e-01 8.94645427e-01 1.10046587e-01 -2.46383555e+01] [ 2.53341118e-01 3.62593797e-03 9.67370214e-01 5.64887872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98420609899998 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:22.98, Y:-24.63, Z:56.52 [[ 8.49084714e-01 4.78464062e-01 -2.23891246e-01 2.29835459e+01] [-4.64010699e-01 8.78094514e-01 1.16807942e-01 -2.46250649e+01] [ 2.52486077e-01 4.70809502e-03 9.67589073e-01 5.65220056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01420609899998 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:23.01, Y:-24.59, Z:56.56 [[ 7.89285759e-01 5.78613245e-01 -2.05510837e-01 2.30091436e+01] [-5.60686823e-01 8.15598485e-01 1.42931446e-01 -2.45851540e+01] [ 2.50316355e-01 2.41346388e-03 9.68161091e-01 5.65553374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04420609899998 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:23.02, Y:-24.58, Z:56.59 [[ 7.70877292e-01 6.04532250e-01 -2.00721095e-01 2.30187849e+01] [-5.85903899e-01 7.96575789e-01 1.48941709e-01 -2.45755553e+01] [ 2.49929632e-01 2.78749107e-03 9.68259990e-01 5.65871686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07420609899998 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:23.01, Y:-24.59, Z:56.62 [[ 7.89137928e-01 5.78826893e-01 -2.05476903e-01 2.30120071e+01] [-5.61458152e-01 8.15439321e-01 1.40795802e-01 -2.45860389e+01] [ 2.49050343e-01 4.25937489e-03 9.68481174e-01 5.66199289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10420609899998 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:23.02, Y:-24.57, Z:56.65 [[ 7.68736269e-01 6.07442095e-01 -2.00146572e-01 2.30203245e+01] [-5.89325878e-01 7.94350045e-01 1.47319430e-01 -2.45743498e+01] [ 2.48474462e-01 4.70176527e-03 9.68627036e-01 5.66527289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13420609899998 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:23.04, Y:-24.56, Z:56.68 [[ 7.33405472e-01 6.52603376e-01 -1.90329310e-01 2.30378108e+01] [-6.32545560e-01 7.57695149e-01 1.60574519e-01 -2.45581320e+01] [ 2.49003069e-01 2.62572919e-03 9.68499137e-01 5.66845495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.16420609899998 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:23.03, Y:-24.56, Z:56.72 [[ 7.40373385e-01 6.44211035e-01 -1.91935909e-01 2.30342000e+01] [-6.25027587e-01 7.64835181e-01 1.56101449e-01 -2.45602050e+01] [ 2.47361612e-01 4.39187957e-03 9.68913280e-01 5.67173510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.19420609899998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:23.05, Y:-24.55, Z:56.75 [[ 7.06220768e-01 6.84335054e-01 -1.81487634e-01 2.30503859e+01] [-6.63646191e-01 7.29163437e-01 1.67016213e-01 -2.45458737e+01] [ 2.46629196e-01 2.49325830e-03 9.69106714e-01 5.67489294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22420609899999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:23.05, Y:-24.55, Z:56.78 [[ 7.15414308e-01 6.73892534e-01 -1.84529727e-01 2.30461519e+01] [-6.53527089e-01 7.38823495e-01 1.64445090e-01 -2.45482790e+01] [ 2.47153216e-01 2.94880486e-03 9.68971926e-01 5.67820111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25420609899999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:23.06, Y:-24.53, Z:56.82 [[ 6.70616462e-01 7.21463688e-01 -1.72521617e-01 2.30648621e+01] [-6.99834995e-01 6.92445160e-01 1.75358719e-01 -2.45297012e+01] [ 2.45976707e-01 3.13822081e-03 9.69270659e-01 5.68151268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28420609899999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:23.07, Y:-24.53, Z:56.85 [[ 6.63922077e-01 7.28425559e-01 -1.69126228e-01 2.30703518e+01] [-7.06700984e-01 6.85121155e-01 1.76586302e-01 -2.45290827e+01] [ 2.44501932e-01 2.28212762e-03 9.69646119e-01 5.68469706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.31420609899999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:23.07, Y:-24.52, Z:56.88 [[ 6.51269872e-01 7.40067169e-01 -1.67774071e-01 2.30749336e+01] [-7.17693508e-01 6.72527221e-01 1.80618839e-01 -2.45223264e+01] [ 2.46502703e-01 2.77875368e-03 9.69138120e-01 5.68789455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34420609899998 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:23.08, Y:-24.52, Z:56.91 [[ 6.40494123e-01 7.50110988e-01 -1.64623159e-01 2.30816559e+01] [-7.27154109e-01 6.61309642e-01 1.84164216e-01 -2.45210116e+01] [ 2.47010484e-01 1.75030891e-03 9.69011226e-01 5.69106879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37420609899998 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:23.08, Y:-24.52, Z:56.94 [[ 6.43649367e-01 7.47157564e-01 -1.65743978e-01 2.30807502e+01] [-7.24579453e-01 6.64641259e-01 1.82309116e-01 -2.45218438e+01] [ 2.46373921e-01 2.75153419e-03 9.69170945e-01 5.69423145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40420609899998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:23.09, Y:-24.51, Z:56.98 [[ 6.23408670e-01 7.65081718e-01 -1.61281103e-01 2.30887952e+01] [-7.41868690e-01 6.43926038e-01 1.87056421e-01 -2.45135061e+01] [ 2.46966550e-01 3.03680600e-03 9.69019247e-01 5.69751524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43420609899998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:23.11, Y:-24.50, Z:57.01 [[ 5.75926203e-01 8.03901801e-01 -1.48495465e-01 2.31094881e+01] [-7.79314474e-01 5.94758382e-01 1.97310461e-01 -2.44986129e+01] [ 2.46937157e-01 2.08840073e-03 9.69029246e-01 5.70086580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46420609899998 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:23.12, Y:-24.50, Z:57.04 [[ 5.62013616e-01 8.13670126e-01 -1.48598863e-01 2.31167059e+01] [-7.87955506e-01 5.81319018e-01 2.02963840e-01 -2.44970713e+01] [ 2.51528958e-01 3.02085045e-03 9.67845059e-01 5.70414466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49420609899998 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:23.12, Y:-24.50, Z:57.07 [[ 5.63865250e-01 8.12363721e-01 -1.48731853e-01 2.31166218e+01] [-7.86679220e-01 5.83144731e-01 2.02677150e-01 -2.44990200e+01] [ 2.51379760e-01 2.72165673e-03 9.67884708e-01 5.70714918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52420609899998 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:23.12, Y:-24.50, Z:57.10 [[ 5.60683938e-01 8.14549551e-01 -1.48803732e-01 2.31189247e+01] [-7.88716931e-01 5.80084910e-01 2.03536485e-01 -2.44987522e+01] [ 2.52109352e-01 3.24438505e-03 9.67693313e-01 5.71037016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.55420609899998 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:23.13, Y:-24.49, Z:57.14 [[ 5.30620240e-01 8.35925647e-01 -1.40251463e-01 2.31305965e+01] [-8.09586727e-01 5.48834136e-01 2.08207642e-01 -2.44883308e+01] [ 2.51020898e-01 3.06653438e-03 9.67976810e-01 5.71358301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58420609899999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:23.15, Y:-24.48, Z:57.17 [[ 4.85858940e-01 8.64590744e-01 -1.28155905e-01 2.31509785e+01] [-8.37503294e-01 5.02467777e-01 2.14742555e-01 -2.44805245e+01] [ 2.50058638e-01 2.99640252e-03 9.68226058e-01 5.71673003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61420609899999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:23.14, Y:-24.49, Z:57.20 [[ 5.13868047e-01 8.48085350e-01 -1.29193143e-01 2.31403814e+01] [-8.21409013e-01 5.29854515e-01 2.11048398e-01 -2.44879822e+01] [ 2.47440625e-01 -2.33061607e-03 9.68900256e-01 5.71988314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64420609899999 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:23.14, Y:-24.49, Z:57.23 [[ 5.25267788e-01 8.40545875e-01 -1.32575950e-01 2.31363877e+01] [-8.14103759e-01 5.41736882e-01 2.09179876e-01 -2.44922096e+01] [ 2.47646563e-01 -1.94487128e-03 9.68848490e-01 5.72309729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67420609899999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:23.13, Y:-24.49, Z:57.26 [[ 5.40132365e-01 8.30099966e-01 -1.38531859e-01 2.31294027e+01] [-8.03606442e-01 5.57613620e-01 2.08047440e-01 -2.44931393e+01] [ 2.49947424e-01 -1.04806101e-03 9.68258843e-01 5.72637471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70420609899999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:23.20, Y:-24.46, Z:57.30 [[ 3.86955980e-01 9.16910997e-01 -9.76693110e-02 2.31952684e+01] [-8.87778008e-01 3.99086629e-01 2.29303448e-01 -2.44589651e+01] [ 2.49229370e-01 -2.02167419e-03 9.68442375e-01 5.72967060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.73420609899998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:23.21, Y:-24.45, Z:57.33 [[ 3.44042608e-01 9.34979961e-01 -8.62969071e-02 2.32141156e+01] [-9.05325672e-01 3.54693414e-01 2.33619370e-01 -2.44531218e+01] [ 2.49038374e-01 -2.24821188e-03 9.68491009e-01 5.73292544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76420609899998 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:23.21, Y:-24.46, Z:57.36 [[ 3.46401495e-01 9.34087662e-01 -8.65230828e-02 2.32147406e+01] [-9.03946069e-01 3.57028220e-01 2.35398290e-01 -2.44557868e+01] [ 2.50773820e-01 -3.33011883e-03 9.68039979e-01 5.73607841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79420609899998 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:23.20, Y:-24.46, Z:57.39 [[ 3.80591524e-01 9.19702618e-01 -9.64219203e-02 2.32012883e+01] [-8.89889885e-01 3.92607098e-01 2.32283574e-01 -2.44609258e+01] [ 2.51487741e-01 -2.60026774e-03 9.67856991e-01 5.73926105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82420609899998 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:23.19, Y:-24.47, Z:57.42 [[ 4.07610571e-01 9.07122219e-01 -1.04799340e-01 2.31905644e+01] [-8.77937838e-01 4.20866037e-01 2.28247523e-01 -2.44667334e+01] [ 2.51154882e-01 -1.02879718e-03 9.67946366e-01 5.74245568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85420609899998 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:23.19, Y:-24.47, Z:57.46 [[ 4.01548208e-01 9.09737514e-01 -1.05530530e-01 2.31931074e+01] [-8.80668674e-01 4.15181755e-01 2.28137673e-01 -2.44674617e+01] [ 2.51359750e-01 1.32915811e-03 9.67892819e-01 5.74565394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88420609899998 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:23.20, Y:-24.46, Z:57.49 [[ 3.85283254e-01 9.17150105e-01 -1.01943610e-01 2.32005801e+01] [-8.87947379e-01 3.98536636e-01 2.29604009e-01 -2.44643528e+01] [ 2.51209604e-01 2.05798167e-03 9.67930524e-01 5.74895762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.91420609899998 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:23.22, Y:-24.46, Z:57.52 [[ 3.42534600e-01 9.35179223e-01 -9.00548138e-02 2.32193934e+01] [-9.05297989e-01 3.54172823e-01 2.34514740e-01 -2.44592688e+01] [ 2.51208280e-01 1.19702911e-03 9.67932315e-01 5.75226523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94420609899998 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:23.71, Y:-24.66, Z:57.52 [[-8.62095502e-01 4.52113869e-01 2.28876374e-01 2.37107881e+01] [-4.24016927e-01 -8.90910570e-01 1.62751350e-01 -2.46627541e+01] [ 2.77490523e-01 4.32597506e-02 9.59753929e-01 5.75228564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97420609899999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:23.57, Y:-25.17, Z:57.54 [[-5.45448589e-01 -8.25543855e-01 1.44786668e-01 2.35701656e+01] [ 8.02363868e-01 -5.64248059e-01 -1.94515685e-01 -2.51672512e+01] [ 2.42276825e-01 1.00732845e-02 9.70154869e-01 5.75393323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00420609899999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:23.48, Y:-25.21, Z:57.57 [[-3.33238337e-01 -9.38587267e-01 8.94771117e-02 2.34802145e+01] [ 9.11677937e-01 -3.44967260e-01 -2.23250818e-01 -2.52101343e+01] [ 2.40407049e-01 7.17857722e-03 9.70645619e-01 5.75742005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03420609899999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:23.41, Y:-25.22, Z:57.61 [[-1.77436216e-01 -9.82961807e-01 4.79841170e-02 2.34138508e+01] [ 9.54524358e-01 -1.83763148e-01 -2.34764469e-01 -2.52244868e+01] [ 2.39582219e-01 4.14628940e-03 9.70867225e-01 5.76072802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06420609899999 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:23.37, Y:-25.23, Z:57.65 [[-6.50175027e-02 -9.97687384e-01 1.98143230e-02 2.33660146e+01] [ 9.69320243e-01 -6.78608141e-02 -2.36248124e-01 -2.52282523e+01] [ 2.37046389e-01 3.84616135e-03 9.71490719e-01 5.76459320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.09420609899998 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:23.33, Y:-25.23, Z:57.68 [[ 1.62597770e-02 -9.99867712e-01 -4.21835674e-04 2.33313300e+01] [ 9.71254856e-01 1.58946805e-02 -2.37510767e-01 -2.52257194e+01] [ 2.37486052e-01 3.45216215e-03 9.71384814e-01 5.76814540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12420609899998 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:23.30, Y:-25.22, Z:57.72 [[ 8.47777728e-02 -9.96253761e-01 -1.70637956e-02 2.33018473e+01] [ 9.67532724e-01 8.64019224e-02 -2.37518706e-01 -2.52220466e+01] [ 2.38103249e-01 3.62652619e-03 9.71233078e-01 5.77213202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15420609899998 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:23.27, Y:-25.22, Z:57.76 [[ 1.54885759e-01 -9.87323795e-01 -3.46716832e-02 2.32723038e+01] [ 9.58278667e-01 1.58678215e-01 -2.37746127e-01 -2.52167424e+01] [ 2.40234049e-01 3.59835497e-03 9.70708326e-01 5.77577776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18420609899998 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:23.23, Y:-25.21, Z:57.82 [[ 2.43958052e-01 -9.68501767e-01 -4.98878409e-02 2.32296056e+01] [ 9.39611168e-01 2.48786862e-01 -2.35023299e-01 -2.52061770e+01] [ 2.40031920e-01 1.04606538e-02 9.70708634e-01 5.78237736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21420609899998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:23.13, Y:-25.16, Z:57.86 [[ 4.98404954e-01 -8.58891940e-01 -1.17886117e-01 2.31257774e+01] [ 8.33656219e-01 5.12134760e-01 -2.06725173e-01 -2.51573000e+01] [ 2.37928163e-01 4.75635551e-03 9.71271109e-01 5.78571431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24420609899998 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:23.10, Y:-25.14, Z:57.89 [[ 5.68763183e-01 -8.11090576e-01 -1.36530287e-01 2.30974608e+01] [ 7.86799133e-01 5.84901974e-01 -1.97070556e-01 -2.51366116e+01] [ 2.39698905e-01 4.66456566e-03 9.70836071e-01 5.78929989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27420609899998 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:23.08, Y:-25.12, Z:57.94 [[ 6.17688669e-01 -7.72478767e-01 -1.47435622e-01 2.30775791e+01] [ 7.48526459e-01 6.34994713e-01 -1.91023179e-01 -2.51184303e+01] [ 2.41182190e-01 7.63338907e-03 9.70449835e-01 5.79386711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30420609899998 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:23.05, Y:-25.09, Z:57.97 [[ 6.92295174e-01 -7.01986811e-01 -1.67158337e-01 2.30473818e+01] [ 6.80199301e-01 7.12160088e-01 -1.73657477e-01 -2.50891259e+01] [ 2.40948755e-01 6.52124935e-03 9.70515930e-01 5.79743201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.33420609899999 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:22.97, Y:-24.98, Z:58.07 [[ 0.80372079 -0.5716753 -0.16498561 22.96593523] [ 0.54330562 0.81816045 -0.18823521 -24.98156835] [ 0.24259412 0.06165094 0.96816696 58.07131034] [ 0. 0. 0. 1. ]] SLAMing on 92.36420609899999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:22.99, Y:-24.50, Z:58.12 [[ 7.52384443e-01 6.38933866e-01 -1.60253440e-01 2.29924960e+01] [-6.27161721e-01 7.69215461e-01 1.22375443e-01 -2.44993675e+01] [ 2.01459238e-01 8.43144355e-03 9.79460610e-01 5.81205049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39420609899999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:23.00, Y:-24.49, Z:58.15 [[ 7.40798967e-01 6.53281167e-01 -1.56334920e-01 2.29958856e+01] [-6.41024217e-01 7.57085091e-01 1.26135316e-01 -2.44913449e+01] [ 2.00760664e-01 6.77355751e-03 9.79616902e-01 5.81530111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42420609899999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:23.00, Y:-24.50, Z:58.18 [[ 7.43807775e-01 6.49270282e-01 -1.58739078e-01 2.29987815e+01] [-6.37330878e-01 7.60507401e-01 1.24249127e-01 -2.44960851e+01] [ 2.01393509e-01 8.75184876e-03 9.79471316e-01 5.81831998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.45420609899999 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:23.00, Y:-24.50, Z:58.21 [[ 7.44760328e-01 6.47387420e-01 -1.61930796e-01 2.30041630e+01] [-6.35459788e-01 7.62089492e-01 1.24138894e-01 -2.45011454e+01] [ 2.03771716e-01 1.04467859e-02 9.78962692e-01 5.82146161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48420609899998 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:23.01, Y:-24.51, Z:58.25 [[ 7.52712217e-01 6.37195935e-01 -1.65546545e-01 2.30053391e+01] [-6.25016787e-01 7.70638913e-01 1.24377177e-01 -2.45081894e+01] [ 2.06829241e-01 9.84914932e-03 9.78327481e-01 5.82456649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51420609899998 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:23.01, Y:-24.51, Z:58.28 [[ 7.53886183e-01 6.34705002e-01 -1.69720898e-01 2.30075884e+01] [-6.22372240e-01 7.72670861e-01 1.25030140e-01 -2.45101683e+01] [ 2.10495648e-01 1.13710808e-02 9.77528660e-01 5.82763446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54420609899998 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:23.01, Y:-24.51, Z:58.31 [[ 7.51564128e-01 6.37124472e-01 -1.70949608e-01 2.30131198e+01] [-6.24596104e-01 7.70669631e-01 1.26285496e-01 -2.45099757e+01] [ 2.12205251e-01 1.18628109e-02 9.77153112e-01 5.83072731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57420609899998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:23.02, Y:-24.51, Z:58.34 [[ 7.42237204e-01 6.47919302e-01 -1.71127178e-01 2.30185289e+01] [-6.35101690e-01 7.61597860e-01 1.28897415e-01 -2.45063547e+01] [ 2.13845216e-01 1.30107033e-02 9.76780910e-01 5.83393289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60420609899998 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:23.02, Y:-24.50, Z:58.37 [[ 7.32533400e-01 6.59759074e-01 -1.67668668e-01 2.30233798e+01] [-6.47120008e-01 7.51350221e-01 1.29261519e-01 -2.44979494e+01] [ 2.11259351e-01 1.38133694e-02 9.77332429e-01 5.83699431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63420609899998 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:23.00, Y:-24.52, Z:58.40 [[ 7.83987955e-01 5.93574364e-01 -1.81748069e-01 2.30023697e+01] [-5.83361339e-01 8.04559180e-01 1.11238813e-01 -2.45230882e+01] [ 2.12255586e-01 1.88149073e-02 9.77033042e-01 5.84016930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.66420609899998 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:23.00, Y:-24.52, Z:58.43 [[ 7.88973230e-01 5.87026544e-01 -1.81441665e-01 2.30001844e+01] [-5.77750988e-01 8.09291589e-01 1.06070353e-01 -2.45244930e+01] [ 2.09105326e-01 2.11414320e-02 9.77664565e-01 5.84341717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.69420609899998 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:23.00, Y:-24.53, Z:58.46 [[ 7.89250254e-01 5.85920587e-01 -1.83796360e-01 2.30039975e+01] [-5.76920971e-01 8.10035188e-01 1.04905613e-01 -2.45275474e+01] [ 2.10347877e-01 2.32391929e-02 9.77350352e-01 5.84645434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72420609899999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:23.01, Y:-24.52, Z:58.50 [[ 7.76745635e-01 6.03271000e-01 -1.80915228e-01 2.30100156e+01] [-5.94000669e-01 7.97186922e-01 1.07963962e-01 -2.45201015e+01] [ 2.09354781e-01 2.36032302e-02 9.77554839e-01 5.84975684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75420609899999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:23.02, Y:-24.51, Z:58.53 [[ 7.50549636e-01 6.37209120e-01 -1.75042227e-01 2.30228751e+01] [-6.27047375e-01 7.70348840e-01 1.15647112e-01 -2.45068937e+01] [ 2.08534971e-01 2.29608713e-02 9.77745347e-01 5.85306614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78420609899999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:23.03, Y:-24.50, Z:58.56 [[ 7.38668620e-01 6.51462819e-01 -1.73103623e-01 2.30329940e+01] [-6.40751853e-01 7.58348434e-01 1.19769427e-01 -2.45031889e+01] [ 2.09298190e-01 2.24465503e-02 9.77594200e-01 5.85619677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.81420609899999 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:23.05, Y:-24.50, Z:58.59 [[ 7.15116319e-01 6.78278444e-01 -1.68958583e-01 2.30473578e+01] [-6.66384723e-01 7.34506960e-01 1.28183177e-01 -2.44950671e+01] [ 2.11045140e-01 2.09255368e-02 9.77252307e-01 5.85939278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84420609899998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:23.04, Y:-24.50, Z:58.63 [[ 7.29132749e-01 6.61087546e-01 -1.76999126e-01 2.30419106e+01] [-6.49959173e-01 7.49889112e-01 1.23366908e-01 -2.45006601e+01] [ 2.14286044e-01 2.50913528e-02 9.76448624e-01 5.86282046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.87420609899998 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:23.10, Y:-24.46, Z:58.66 [[ 5.92185786e-01 7.92812253e-01 -1.44099710e-01 2.31033027e+01] [-7.73930072e-01 6.09391703e-01 1.72261419e-01 -2.44552762e+01] [ 2.24384131e-01 9.51233506e-03 9.74454348e-01 5.86572893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90420609899998 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:23.06, Y:-24.49, Z:58.69 [[ 7.02343795e-01 6.90830610e-01 -1.71657395e-01 2.30591872e+01] [-6.78757742e-01 7.22599138e-01 1.30913760e-01 -2.44934110e+01] [ 2.14478719e-01 2.45673188e-02 9.76419646e-01 5.86921445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93420609899998 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:23.13, Y:-24.44, Z:58.72 [[ 5.32405292e-01 8.36027765e-01 -1.32673213e-01 2.31329703e+01] [-8.14673951e-01 5.48628280e-01 1.87918502e-01 -2.44420625e+01] [ 2.29893362e-01 8.03660609e-03 9.73182642e-01 5.87217075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96420609899998 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:23.06, Y:-24.50, Z:58.75 [[ 7.02022441e-01 6.89291766e-01 -1.79000986e-01 2.30641333e+01] [-6.74474076e-01 7.24208925e-01 1.43548437e-01 -2.44992395e+01] [ 2.28580867e-01 1.99573000e-02 9.73320345e-01 5.87541521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99420609899998 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:23.07, Y:-24.50, Z:58.79 [[ 6.93832504e-01 6.98537711e-01 -1.75047204e-01 2.30685919e+01] [-6.84018613e-01 7.15281904e-01 1.43144456e-01 -2.44963384e+01] [ 2.25199898e-01 2.04172687e-02 9.74098630e-01 5.87867755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02420609899998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:23.07, Y:-24.50, Z:58.82 [[ 7.04658947e-01 6.87148535e-01 -1.76869043e-01 2.30659693e+01] [-6.75822206e-01 7.25916186e-01 1.27710759e-01 -2.44982827e+01] [ 2.16148362e-01 2.95394974e-02 9.75913574e-01 5.88239505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.05420609899998 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:23.19, Y:-24.42, Z:58.85 [[ 4.17895898e-01 9.02485359e-01 -1.04322551e-01 2.31884135e+01] [-8.78994835e-01 4.30676307e-01 2.04660695e-01 -2.44215537e+01] [ 2.29632531e-01 6.17211848e-03 9.73257831e-01 5.88545895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08420609899999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:23.13, Y:-24.45, Z:58.89 [[ 5.47779712e-01 8.25162250e-01 -1.38002349e-01 2.31341936e+01] [-8.05461364e-01 5.64752394e-01 1.79685069e-01 -2.44509806e+01] [ 2.26206492e-01 1.27277245e-02 9.73996215e-01 5.88867204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11420609899999 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:23.12, Y:-24.46, Z:58.92 [[ 5.87657999e-01 7.95162557e-01 -1.49581362e-01 2.31192770e+01] [-7.78902588e-01 6.06010134e-01 1.61438768e-01 -2.44608759e+01] [ 2.19017885e-01 2.16385265e-02 9.75480876e-01 5.89229270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14420609899999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:23.23, Y:-24.41, Z:58.96 [[ 3.35990556e-01 9.38306640e-01 -8.17985068e-02 2.32257290e+01] [-9.15611675e-01 3.45753193e-01 2.05207188e-01 -2.44075098e+01] [ 2.20829362e-01 5.94799057e-03 9.75294322e-01 5.89552754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17420609899999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:23.25, Y:-24.40, Z:58.99 [[ 2.90627949e-01 9.54330799e-01 -6.91962464e-02 2.32457257e+01] [-9.30562036e-01 2.98738157e-01 2.11683278e-01 -2.44037502e+01] [ 2.22687431e-01 2.87032323e-03 9.74885670e-01 5.89868357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20420609899999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:23.24, Y:-24.41, Z:59.02 [[ 3.07615193e-01 9.48575269e-01 -7.46850129e-02 2.32395880e+01] [-9.25110118e-01 3.16518601e-01 2.09731364e-01 -2.44096628e+01] [ 2.22585181e-01 4.57530699e-03 9.74902510e-01 5.90194230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.23420609899998 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:23.26, Y:-24.41, Z:59.05 [[ 2.48511312e-01 9.66839289e-01 -5.88550526e-02 2.32644648e+01] [-9.42451611e-01 2.55378934e-01 2.15792868e-01 -2.44058016e+01] [ 2.23667363e-01 1.84107052e-03 9.74663799e-01 5.90503387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26420609899998 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:23.27, Y:-24.41, Z:59.08 [[ 2.41370784e-01 9.68987625e-01 -5.29445636e-02 2.32673425e+01] [-9.44301261e-01 2.47096959e-01 2.17343555e-01 -2.44071422e+01] [ 2.23685655e-01 -2.46476605e-03 9.74658223e-01 5.90813629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29420609899998 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:23.24, Y:-24.41, Z:59.11 [[ 2.99421668e-01 9.51696197e-01 -6.79780377e-02 2.32436912e+01] [-9.27071176e-01 3.07038162e-01 2.15096725e-01 -2.44147380e+01] [ 2.25578587e-01 -1.38414089e-03 9.74223991e-01 5.91115246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32420609899998 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:23.25, Y:-24.41, Z:59.14 [[ 2.88878105e-01 9.55369449e-01 -6.17952724e-02 2.32467662e+01] [-9.30618708e-01 2.95372631e-01 2.16110685e-01 -2.44116824e+01] [ 2.24718179e-01 -4.92180878e-03 9.74411369e-01 5.91410006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35420609899998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:23.13, Y:-24.47, Z:59.17 [[ 5.73259707e-01 8.07914394e-01 -1.36556364e-01 2.31264910e+01] [-7.88671545e-01 5.89256679e-01 1.75424516e-01 -2.44698034e+01] [ 2.22194741e-01 7.13431255e-03 9.74976204e-01 5.91713899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38420609899998 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:23.12, Y:-24.47, Z:59.20 [[ 5.85596528e-01 7.98496025e-01 -1.39573652e-01 2.31219799e+01] [-7.79403235e-01 6.01958703e-01 1.73713322e-01 -2.44746980e+01] [ 2.22726972e-01 7.05823803e-03 9.74855311e-01 5.92040486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.41420609899998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:23.12, Y:-24.47, Z:59.24 [[ 5.83224894e-01 8.00329506e-01 -1.39001458e-01 2.31233470e+01] [-7.80940222e-01 5.99526650e-01 1.75214627e-01 -2.44737302e+01] [ 2.23564514e-01 6.36229721e-03 9.74668369e-01 5.92372931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44420609899998 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:23.13, Y:-24.47, Z:59.27 [[ 5.75786639e-01 8.05951464e-01 -1.37520845e-01 2.31276101e+01] [-7.86702507e-01 5.91936785e-01 1.75242712e-01 -2.44734113e+01] [ 2.22640767e-01 7.28558166e-03 9.74873330e-01 5.92700562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47420609899999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:23.12, Y:-24.49, Z:59.30 [[ 6.12729314e-01 7.76282486e-01 -1.48149552e-01 2.31161446e+01] [-7.58182714e-01 6.30305464e-01 1.66955069e-01 -2.44896057e+01] [ 2.22983769e-01 1.00261646e-02 9.74770596e-01 5.93030007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50420609899999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:23.18, Y:-24.45, Z:59.33 [[ 4.68145829e-01 8.77106958e-01 -1.07344621e-01 2.31750366e+01] [-8.55204297e-01 4.80294712e-01 1.94788605e-01 -2.44473011e+01] [ 2.22407494e-01 6.12107880e-04 9.74953605e-01 5.93347003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53420609899999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:23.13, Y:-24.47, Z:59.37 [[ 5.68647854e-01 8.11558178e-01 -1.34212303e-01 2.31330706e+01] [-7.92264017e-01 5.84238320e-01 1.76020771e-01 -2.44747519e+01] [ 2.21263067e-01 6.23774457e-03 9.75194209e-01 5.93674829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56420609899999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:23.13, Y:-24.49, Z:59.40 [[ 5.93555640e-01 7.92456930e-01 -1.40369929e-01 2.31250842e+01] [-7.73615891e-01 6.09892593e-01 1.71899614e-01 -2.44856111e+01] [ 2.21833620e-01 6.56042213e-03 9.75062463e-01 5.94000751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.59420609899998 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:23.15, Y:-24.47, Z:59.43 [[ 5.37809098e-01 8.33464842e-01 -1.26876833e-01 2.31495455e+01] [-8.13211948e-01 5.52550520e-01 1.82686207e-01 -2.44706603e+01] [ 2.22368390e-01 4.92745198e-03 9.74950265e-01 5.94329283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62420609899998 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:23.16, Y:-24.47, Z:59.47 [[ 5.27515673e-01 8.38545529e-01 -1.36266688e-01 2.31580799e+01] [-8.15974573e-01 5.44754928e-01 1.93462050e-01 -2.44730547e+01] [ 2.36458687e-01 9.13588931e-03 9.71598593e-01 5.94678816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65420609899998 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:23.27, Y:-24.42, Z:59.50 [[ 2.61036038e-01 9.63888739e-01 -5.27132378e-02 2.32669910e+01] [-9.38635833e-01 2.66191782e-01 2.19327854e-01 -2.44210670e+01] [ 2.25439480e-01 -7.77394025e-03 9.74226158e-01 5.94974057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68420609899998 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:23.14, Y:-24.48, Z:59.53 [[ 5.55996438e-01 8.20746459e-01 -1.31313408e-01 2.31413243e+01] [-8.00895801e-01 5.71267392e-01 1.79497863e-01 -2.44785110e+01] [ 2.22337304e-01 5.36818449e-03 9.74955028e-01 5.95272967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71420609899998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:23.12, Y:-24.50, Z:59.56 [[ 6.12772479e-01 7.74131900e-01 -1.58838569e-01 2.31235806e+01] [-7.54290520e-01 6.32894671e-01 1.74614279e-01 -2.45022920e+01] [ 2.35702568e-01 1.28116024e-02 9.71740790e-01 5.95618594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74420609899998 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:23.23, Y:-24.44, Z:59.59 [[ 3.53209231e-01 9.32286353e-01 -7.80089354e-02 2.32298160e+01] [-9.08258000e-01 3.61704773e-01 2.10326088e-01 -2.44356673e+01] [ 2.24300346e-01 -3.43687627e-03 9.74514003e-01 5.95917607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77420609899998 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:23.13, Y:-24.50, Z:59.62 [[ 5.96950376e-01 7.87341995e-01 -1.54087088e-01 2.31315014e+01] [-7.66584059e-01 6.16423327e-01 1.79919878e-01 -2.45002530e+01] [ 2.36641351e-01 1.07174669e-02 9.71537960e-01 5.96243901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80420609899998 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:23.20, Y:-24.45, Z:59.66 [[ 4.18305269e-01 9.03107924e-01 -9.70400909e-02 2.32029626e+01] [-8.79858899e-01 4.29413590e-01 2.03598348e-01 -2.44499165e+01] [ 2.25541615e-01 2.15325630e-04 9.74233511e-01 5.96560146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.83420609899999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:23.14, Y:-24.49, Z:59.69 [[ 5.59848239e-01 8.17611900e-01 -1.34464607e-01 2.31425194e+01] [-7.97187518e-01 5.75743701e-01 1.81689988e-01 -2.44850397e+01] [ 2.25969047e-01 5.47468668e-03 9.74119098e-01 5.96886851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86420609899999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:23.14, Y:-24.49, Z:59.72 [[ 5.56905864e-01 8.19713482e-01 -1.33886765e-01 2.31447705e+01] [-7.99210006e-01 5.72747431e-01 1.82273824e-01 -2.44851104e+01] [ 2.26095612e-01 5.49428087e-03 9.74089620e-01 5.97221365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89420609899999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:23.15, Y:-24.49, Z:59.76 [[ 5.53697525e-01 8.22045237e-01 -1.32893487e-01 2.31462857e+01] [-8.01389638e-01 5.69399639e-01 1.83190334e-01 -2.44850354e+01] [ 2.26260244e-01 5.06742888e-03 9.74053706e-01 5.97554569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92420609899999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:23.15, Y:-24.48, Z:59.79 [[ 5.47979983e-01 8.26061296e-01 -1.31683987e-01 2.31494179e+01] [-8.05369606e-01 5.63555068e-01 1.83808277e-01 -2.44835270e+01] [ 2.26048082e-01 5.33102448e-03 9.74101558e-01 5.97888448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.95420609899999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:23.15, Y:-24.48, Z:59.82 [[ 5.45205951e-01 8.28100093e-01 -1.30386756e-01 2.31514809e+01] [-8.07352910e-01 5.60559674e-01 1.84266466e-01 -2.44831450e+01] [ 2.25680635e-01 4.80495261e-03 9.74189491e-01 5.98221288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98420609899998 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:23.16, Y:-24.48, Z:59.85 [[ 5.37814278e-01 8.33199960e-01 -1.28583156e-01 2.31557457e+01] [-8.12640352e-01 5.52944299e-01 1.84033310e-01 -2.44820514e+01] [ 2.24435870e-01 5.51611917e-03 9.74473249e-01 5.98547112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01420609899998 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:23.16, Y:-24.48, Z:59.89 [[ 5.33049553e-01 8.36416757e-01 -1.27535028e-01 2.31585917e+01] [-8.15774097e-01 5.48065845e-01 1.84760526e-01 -2.44816423e+01] [ 2.24434393e-01 5.55325594e-03 9.74473378e-01 5.98881968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04420609899998 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:23.16, Y:-24.48, Z:59.92 [[ 5.35241659e-01 8.35289255e-01 -1.25730772e-01 2.31587412e+01] [-8.14572608e-01 5.49799953e-01 1.84909376e-01 -2.44844000e+01] [ 2.23579587e-01 3.44564123e-03 9.74679586e-01 5.99209055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07420609899998 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:23.15, Y:-24.50, Z:59.95 [[ 5.61694629e-01 8.16439675e-01 -1.33885773e-01 2.31517740e+01] [-7.96146492e-01 5.77409566e-01 1.80966727e-01 -2.44959502e+01] [ 2.25055342e-01 4.94465032e-03 9.74333435e-01 5.99533243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10420609899998 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:23.17, Y:-24.49, Z:59.99 [[ 5.34402667e-01 8.35767077e-01 -1.26123679e-01 2.31656601e+01] [-8.14939492e-01 5.49071840e-01 1.85455491e-01 -2.44904622e+01] [ 2.24248554e-01 3.67525775e-03 9.74525053e-01 5.99852247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13420609899998 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:23.18, Y:-24.48, Z:60.02 [[ 4.91016442e-01 8.63584477e-01 -1.14563105e-01 2.31826361e+01] [-8.42157712e-01 5.04197470e-01 1.91194402e-01 -2.44754554e+01] [ 2.22874945e-01 2.60060768e-03 9.74843575e-01 6.00176079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.16420609899998 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:23.18, Y:-24.48, Z:60.05 [[ 5.03071733e-01 8.56154542e-01 -1.17975553e-01 2.31775918e+01] [-8.34875401e-01 5.16710827e-01 1.89718176e-01 -2.44784309e+01] [ 2.23387324e-01 3.05303508e-03 9.74724978e-01 6.00502214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.19420609899998 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:23.18, Y:-24.48, Z:60.08 [[ 4.98195048e-01 8.59093175e-01 -1.17305631e-01 2.31807841e+01] [-8.37541571e-01 5.11810595e-01 1.91243381e-01 -2.44777708e+01] [ 2.24334148e-01 2.97183725e-03 9.74507752e-01 6.00832170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22420609899999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:23.18, Y:-24.48, Z:60.12 [[ 4.93002929e-01 8.62239774e-01 -1.16149406e-01 2.31837261e+01] [-8.40608572e-01 5.06491400e-01 1.91947105e-01 -2.44773838e+01] [ 2.24333103e-01 3.00570134e-03 9.74507888e-01 6.01167055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25420609899999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:23.19, Y:-24.48, Z:60.15 [[ 4.80683565e-01 8.69443532e-01 -1.14066888e-01 2.31897793e+01] [-8.48068239e-01 4.94010834e-01 1.91660006e-01 -2.44761085e+01] [ 2.22987831e-01 4.60869032e-03 9.74810334e-01 6.01496776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28420609899999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:23.19, Y:-24.47, Z:60.18 [[ 4.77923826e-01 8.71120667e-01 -1.12860978e-01 2.31915500e+01] [-8.49693564e-01 4.91051865e-01 1.92064868e-01 -2.44748600e+01] [ 2.22732270e-01 4.10487019e-03 9.74871010e-01 6.01826036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31420609899999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:23.20, Y:-24.47, Z:60.22 [[ 4.66786476e-01 8.77469941e-01 -1.10258277e-01 2.31976078e+01] [-8.56108223e-01 4.79610137e-01 1.92491108e-01 -2.44739151e+01] [ 2.21786148e-01 4.54077161e-03 9.75084758e-01 6.02156172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34420609899998 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:23.20, Y:-24.47, Z:60.25 [[ 4.64440894e-01 8.78847977e-01 -1.09182821e-01 2.31989982e+01] [-8.57317147e-01 4.77086847e-01 1.93379032e-01 -2.44747681e+01] [ 2.22040459e-01 3.79117371e-03 9.75030082e-01 6.02484881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37420609899998 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:23.20, Y:-24.48, Z:60.28 [[ 4.64374565e-01 8.78351852e-01 -1.13376748e-01 2.32028902e+01] [-8.54461809e-01 4.78008710e-01 2.03476511e-01 -2.44797807e+01] [ 2.32919043e-01 2.38678497e-03 9.72493199e-01 6.02813210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40420609899998 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:23.21, Y:-24.47, Z:60.31 [[ 4.54992669e-01 8.84158552e-01 -1.06043984e-01 2.32059804e+01] [-8.62426753e-01 4.67178554e-01 1.94844280e-01 -2.44730916e+01] [ 2.21814712e-01 2.80244943e-03 9.75084807e-01 6.03143725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43420609899998 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:23.20, Y:-24.48, Z:60.35 [[ 4.69638710e-01 8.75766500e-01 -1.11680440e-01 2.32017885e+01] [-8.54309147e-01 4.82710150e-01 1.92735033e-01 -2.44822082e+01] [ 2.22700167e-01 4.89378888e-03 9.74874703e-01 6.03472916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46420609899998 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:23.21, Y:-24.48, Z:60.38 [[ 4.44878449e-01 8.89383497e-01 -1.05262342e-01 2.32137728e+01] [-8.67151334e-01 4.57149608e-01 1.97643113e-01 -2.44792899e+01] [ 2.23901161e-01 3.35121846e-03 9.74606094e-01 6.03799664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49420609899998 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:23.24, Y:-24.46, Z:60.41 [[ 3.80363098e-01 9.20535519e-01 -8.90969787e-02 2.32393885e+01] [-8.97402039e-01 3.90654011e-01 2.05082969e-01 -2.44630656e+01] [ 2.23592250e-01 1.94981683e-03 9.74680822e-01 6.04124014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52420609899998 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:23.22, Y:-24.47, Z:60.44 [[ 4.23268495e-01 9.00363472e-01 -1.00942555e-01 2.32223492e+01] [-8.78042215e-01 4.35117563e-01 1.99285161e-01 -2.44730002e+01] [ 2.23350958e-01 4.28069443e-03 9.74728693e-01 6.04447477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.55420609899998 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:23.23, Y:-24.47, Z:60.48 [[ 4.10022480e-01 9.06622793e-01 -9.95825088e-02 2.32266150e+01] [-8.84647498e-01 4.21888881e-01 1.98515936e-01 -2.44722284e+01] [ 2.21991825e-01 6.69942078e-03 9.75025511e-01 6.04781571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58420609899999 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:23.23, Y:-24.47, Z:60.51 [[ 4.04368497e-01 9.09293576e-01 -9.83428263e-02 2.32296408e+01] [-8.87246556e-01 4.16100804e-01 1.99132293e-01 -2.44720597e+01] [ 2.21990244e-01 6.73150798e-03 9.75025650e-01 6.05116468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61420609899999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:23.23, Y:-24.47, Z:60.54 [[ 3.97238300e-01 9.12602114e-01 -9.67425182e-02 2.32321497e+01] [-8.90520599e-01 4.08791625e-01 1.99655882e-01 -2.44724141e+01] [ 2.21753911e-01 6.84024228e-03 9.75078671e-01 6.05441910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64420609899999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:23.24, Y:-24.47, Z:60.58 [[ 3.90550589e-01 9.15611880e-01 -9.55255070e-02 2.32357134e+01] [-8.93449275e-01 4.02000649e-01 2.00359357e-01 -2.44719241e+01] [ 2.21852723e-01 7.09673018e-03 9.75054360e-01 6.05772873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67420609899999 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:23.23, Y:-24.48, Z:60.61 [[ 4.17570504e-01 9.02853858e-01 -1.02419655e-01 2.32270855e+01] [-8.80963953e-01 4.29879464e-01 1.97752776e-01 -2.44830932e+01] [ 2.22569963e-01 7.65229826e-03 9.74886688e-01 6.06101329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70420609899999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:23.25, Y:-24.47, Z:60.64 [[ 3.53829738e-01 9.31274965e-01 -8.67839647e-02 2.32521009e+01] [-9.08400800e-01 3.64264023e-01 2.05230866e-01 -2.44682996e+01] [ 2.22738644e-01 6.21783931e-03 9.74858367e-01 6.06421395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.73420609899998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:23.25, Y:-24.47, Z:60.67 [[ 3.64735841e-01 9.26425428e-01 -9.32935886e-02 2.32455636e+01] [-9.03795960e-01 3.76345467e-01 2.03757094e-01 -2.44729284e+01] [ 2.23876372e-01 1.00008535e-02 9.74566238e-01 6.06747513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76420609899998 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:23.25, Y:-24.47, Z:60.71 [[ 3.62532157e-01 9.27413102e-01 -9.20617916e-02 2.32463532e+01] [-9.04931555e-01 3.73914286e-01 2.03191997e-01 -2.44710958e+01] [ 2.22866139e-01 9.64598726e-03 9.74801333e-01 6.07077717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79420609899998 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:23.25, Y:-24.47, Z:60.74 [[ 3.48101012e-01 9.33004890e-01 -9.12554649e-02 2.32521962e+01] [-9.10297070e-01 3.59672324e-01 2.04926972e-01 -2.44691733e+01] [ 2.24019932e-01 1.17342960e-02 9.74513918e-01 6.07409947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82420609899998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:23.26, Y:-24.47, Z:60.77 [[ 3.42021741e-01 9.35325075e-01 -9.04883046e-02 2.32565623e+01] [-9.12250969e-01 3.53592178e-01 2.06810884e-01 -2.44696653e+01] [ 2.25431362e-01 1.18142251e-02 9.74187418e-01 6.07728961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85420609899998 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:23.25, Y:-24.48, Z:60.80 [[ 3.68369116e-01 9.24779104e-01 -9.53299701e-02 2.32466282e+01] [-9.01971148e-01 3.80354198e-01 2.04398463e-01 -2.44765754e+01] [ 2.25282582e-01 1.06908015e-02 9.74234810e-01 6.08039212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88420609899998 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:23.25, Y:-24.48, Z:60.84 [[ 3.58333931e-01 9.28844099e-01 -9.40501628e-02 2.32523988e+01] [-9.04851287e-01 3.70339667e-01 2.09982572e-01 -2.44788015e+01] [ 2.29871578e-01 9.85753040e-03 9.73171047e-01 6.08358775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.91420609899998 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:23.23, Y:-24.49, Z:60.87 [[ 4.21747345e-01 8.99827018e-01 -1.11537056e-01 2.32261268e+01] [-8.75030761e-01 4.36153205e-01 2.09979880e-01 -2.44914494e+01] [ 2.37592814e-01 9.03989831e-03 9.71322776e-01 6.08707106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94420609899998 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:23.23, Y:-24.49, Z:60.90 [[ 4.22017798e-01 8.99686442e-01 -1.11648035e-01 2.32277080e+01] [-8.74924638e-01 4.36441143e-01 2.09823751e-01 -2.44904177e+01] [ 2.37503380e-01 9.13425946e-03 9.71343765e-01 6.08979637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97420609899999 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:23.22, Y:-24.49, Z:60.93 [[ 4.29675025e-01 8.95804299e-01 -1.13639914e-01 2.32241480e+01] [-8.71097327e-01 4.44354914e-01 2.09136696e-01 -2.44924600e+01] [ 2.37842006e-01 9.13061049e-03 9.71260939e-01 6.09316825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00420609899999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:23.20, Y:-24.50, Z:60.96 [[ 4.80288717e-01 8.67959672e-01 -1.26367544e-01 2.32026178e+01] [-8.43968919e-01 4.96549181e-01 2.02867872e-01 -2.45033620e+01] [ 2.38828832e-01 9.21512947e-03 9.71017956e-01 6.09635838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03420609899999 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:23.22, Y:-24.50, Z:60.99 [[ 4.45032418e-01 8.87548579e-01 -1.19179138e-01 2.32190835e+01] [-8.61837565e-01 4.60640118e-01 2.12242063e-01 -2.44977395e+01] [ 2.43273833e-01 8.25845944e-03 9.69922492e-01 6.09935931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06420609899999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:23.24, Y:-24.49, Z:61.03 [[ 4.08695030e-01 9.06571462e-01 -1.05340197e-01 2.32361455e+01] [-8.78593387e-01 4.22050606e-01 2.23488135e-01 -2.44895164e+01] [ 2.47066859e-01 1.21271017e-03 9.68997676e-01 6.10267015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.09420609899998 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:23.22, Y:-24.50, Z:61.06 [[ 4.39034523e-01 8.91375588e-01 -1.12686506e-01 2.32236354e+01] [-8.62501868e-01 4.53262588e-01 2.25041228e-01 -2.44978996e+01] [ 2.51672834e-01 -1.60854643e-03 9.67811034e-01 6.10572477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12420609899998 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:23.25, Y:-24.49, Z:61.09 [[ 3.81754958e-01 9.18635580e-01 -1.01842149e-01 2.32461291e+01] [-8.86600958e-01 3.95103004e-01 2.40483591e-01 -2.44932099e+01] [ 2.61154922e-01 -1.51245693e-03 9.65295716e-01 6.10886641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15420609899998 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:23.23, Y:-24.50, Z:61.12 [[ 4.18163557e-01 9.00783240e-01 -1.17169937e-01 2.32297124e+01] [-8.70703372e-01 4.34234597e-01 2.30902473e-01 -2.45011248e+01] [ 2.58872318e-01 5.46525978e-03 9.65896088e-01 6.11233613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18420609899998 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:23.32, Y:-24.47, Z:61.15 [[ 2.04994754e-01 9.77776887e-01 -4.39261782e-02 2.33203945e+01] [-9.43490270e-01 2.09347723e-01 2.56903953e-01 -2.44688311e+01] [ 2.60390593e-01 -1.12200409e-02 9.65438165e-01 6.11534499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21420609899998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:23.27, Y:-24.49, Z:61.19 [[ 3.34896850e-01 9.39095066e-01 -7.71009455e-02 2.32669691e+01] [-9.03454333e-01 3.43268876e-01 2.56781516e-01 -2.44859352e+01] [ 2.67608610e-01 -1.63381378e-02 9.63389172e-01 6.11854878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24420609899998 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:23.25, Y:-24.50, Z:61.22 [[ 3.87443458e-01 9.17364900e-01 -9.12644926e-02 2.32478631e+01] [-8.82355491e-01 3.97686371e-01 2.51583659e-01 -2.44961123e+01] [ 2.67088663e-01 -1.69467165e-02 9.63522940e-01 6.12198786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27420609899998 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:23.27, Y:-24.49, Z:61.25 [[ 3.46798650e-01 9.34390870e-01 -8.15131783e-02 2.32710593e+01] [-8.98060727e-01 3.55869113e-01 2.58542268e-01 -2.44882057e+01] [ 2.70587558e-01 -1.64583255e-02 9.62554672e-01 6.12492472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30420609899998 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:23.32, Y:-24.48, Z:61.28 [[ 2.39706614e-01 9.69323010e-01 -5.43474189e-02 2.33229063e+01] [-9.35931566e-01 2.45601268e-01 2.52412602e-01 -2.44789428e+01] [ 2.58017138e-01 -9.63950545e-03 9.66092250e-01 6.12814631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.33420609899999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:23.80, Y:-24.80, Z:61.26 [[-9.37902050e-01 1.92355530e-01 2.88685114e-01 2.38028609e+01] [-1.81011896e-01 -9.81280102e-01 6.57575491e-02 -2.48027597e+01] [ 2.95929786e-01 9.41870029e-03 9.55163258e-01 6.12577434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.61, Y:-25.21, Z:61.31 [[-4.99962781e-01 -8.49308273e-01 1.69448148e-01 2.36063890e+01] [ 8.21834141e-01 -5.26985429e-01 -2.16506358e-01 -2.52118322e+01] [ 2.73177346e-01 3.10131519e-02 9.61463635e-01 6.13064559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39420609899999 meters Centerline goodness : 0.999818 Centerline is valid? [True, True] Translation: X:23.34, Y:-25.26, Z:61.35 [[ 1.38191154e-01 -9.90380467e-01 -7.05231525e-03 2.33423968e+01] [ 9.56944614e-01 1.35354222e-01 -2.56780530e-01 -2.52597082e+01] [ 2.55264982e-01 2.87361226e-02 9.66444010e-01 6.13452257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.16, Y:-25.18, Z:61.38 [[ 5.90818156e-01 -7.96011118e-01 -1.31530250e-01 2.31553953e+01] [ 7.67729755e-01 6.04802850e-01 -2.11670817e-01 -2.51751254e+01] [ 2.48042194e-01 2.40792754e-02 9.68449926e-01 6.13838923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.45420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.06, Y:-25.06, Z:61.42 [[ 8.34410122e-01 -5.13151654e-01 -2.01084879e-01 2.30579556e+01] [ 4.93723537e-01 8.58100020e-01 -1.41072410e-01 -2.50572413e+01] [ 2.44942479e-01 1.84319089e-02 9.69362392e-01 6.14204514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.02, Y:-24.96, Z:61.46 [[ 9.34962055e-01 -2.68323965e-01 -2.32052160e-01 2.30190506e+01] [ 2.56785576e-01 9.63220672e-01 -7.91650468e-02 -2.49565040e+01] [ 2.44759317e-01 1.44286674e-02 9.69476503e-01 6.14578517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.01, Y:-24.88, Z:61.49 [[ 9.67952201e-01 -6.98134444e-02 -2.41235611e-01 2.30076807e+01] [ 6.51236721e-02 9.97501796e-01 -2.73692362e-02 -2.48758671e+01] [ 2.42543696e-01 1.07819636e-02 9.70080566e-01 6.14920234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.01, Y:-24.81, Z:61.53 [[ 9.64987158e-01 9.59648750e-02 -2.44111710e-01 2.30098456e+01] [-9.51531806e-02 9.95347445e-01 1.51438689e-02 -2.48103697e+01] [ 2.44429246e-01 8.61436658e-03 9.69628865e-01 6.15270356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57420609899998 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:23.01, Y:-24.82, Z:61.56 [[ 9.67436247e-01 6.63130106e-02 -2.44273805e-01 2.30094182e+01] [-6.74148428e-02 9.97717578e-01 3.85671208e-03 -2.48232921e+01] [ 2.43972019e-01 1.27365571e-02 9.69698630e-01 6.15600410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60420609899998 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:23.02, Y:-24.82, Z:61.59 [[ 9.65916053e-01 8.93005179e-02 -2.42964186e-01 2.30176192e+01] [-9.08474577e-02 9.95852994e-01 4.85326829e-03 -2.48198016e+01] [ 2.42390012e-01 1.73848289e-02 9.70023118e-01 6.15912498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63420609899998 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:23.02, Y:-24.81, Z:61.62 [[ 9.62372259e-01 1.28756880e-01 -2.39293336e-01 2.30205531e+01] [-1.30297926e-01 9.91429970e-01 9.43745388e-03 -2.48105679e+01] [ 2.38457722e-01 2.20970816e-02 9.70901454e-01 6.16223985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.66420609899998 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:23.03, Y:-24.84, Z:61.65 [[ 9.66837417e-01 8.08293153e-02 -2.42264381e-01 2.30265109e+01] [-8.59666870e-02 9.96240635e-01 -1.06922907e-02 -2.48365294e+01] [ 2.40489370e-01 3.11643729e-02 9.70151351e-01 6.16549777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.69420609899998 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:23.03, Y:-24.78, Z:61.69 [[ 9.40186425e-01 2.43343424e-01 -2.38397701e-01 2.30349879e+01] [-2.43589943e-01 9.69447756e-01 2.88961616e-02 -2.47763954e+01] [ 2.38145807e-01 3.09035034e-02 9.70737631e-01 6.16866026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72420609899999 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:23.03, Y:-24.80, Z:61.72 [[ 9.50847771e-01 1.97748135e-01 -2.38294336e-01 2.30340112e+01] [-2.01138894e-01 9.79509054e-01 1.02546271e-02 -2.48002888e+01] [ 2.35439293e-01 3.81796700e-02 9.71138843e-01 6.17199939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75420609899999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:23.05, Y:-24.76, Z:61.75 [[ 9.18399571e-01 3.19383780e-01 -2.33529931e-01 2.30504493e+01] [-3.21761838e-01 9.46379060e-01 2.89135828e-02 -2.47636744e+01] [ 2.30242366e-01 4.85867977e-02 9.71919635e-01 6.17491405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78420609899999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:23.07, Y:-24.69, Z:61.78 [[ 8.34329598e-01 5.04874660e-01 -2.21349723e-01 2.30728842e+01] [-5.02160432e-01 8.61713914e-01 7.26913390e-02 -2.46917242e+01] [ 2.27440152e-01 5.05045370e-02 9.72481501e-01 6.17799886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81420609899999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:23.05, Y:-24.80, Z:61.82 [[ 9.36552445e-01 2.57099741e-01 -2.38262967e-01 2.30508575e+01] [-2.64118925e-01 9.64486744e-01 2.55208590e-03 -2.47956761e+01] [ 2.30457614e-01 6.05395966e-02 9.71197326e-01 6.18160378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84420609899998 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:23.10, Y:-24.67, Z:61.85 [[ 7.63386384e-01 6.09063099e-01 -2.15135702e-01 2.31015198e+01] [-6.05102012e-01 7.90840173e-01 9.17789504e-02 -2.46658322e+01] [ 2.26037128e-01 6.01162452e-02 9.72261927e-01 6.18522745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87420609899998 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:23.14, Y:-24.62, Z:61.88 [[ 0.64135534 0.74179633 -0.19596307 23.13539029] [ -0.73592399 0.66700115 0.11629858 -24.61872286] [ 0.21697745 0.06962521 0.97369046 61.88115923] [ 0. 0. 0. 1. ]] SLAMing on 95.90420609899998 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:23.14, Y:-24.63, Z:61.91 [[ 0.63940736 0.74214393 -0.20094929 23.1355048 ] [ -0.7382109 0.66564019 0.10939746 -24.62639074] [ 0.21494858 0.07839342 0.97347397 61.91325901] [ 0. 0. 0. 1. ]] SLAMing on 95.93420609899998 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:23.14, Y:-24.62, Z:61.95 [[ 0.63362374 0.74715717 -0.20069163 23.13834749] [ -0.74304072 0.65996583 0.11106573 -24.62419109] [ 0.21543318 0.07874817 0.97333821 61.94556829] [ 0. 0. 0. 1. ]] SLAMing on 95.96420609899998 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:23.15, Y:-24.61, Z:61.98 [[ 0.59897864 0.77492268 -0.20179058 23.14756796] [ -0.77069725 0.62628912 0.11742102 -24.61374155] [ 0.21737145 0.08518676 0.97236458 61.97726078] [ 0. 0. 0. 1. ]] SLAMing on 95.99420609899998 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:23.13, Y:-24.63, Z:62.01 [[ 0.6399634 0.73499383 -0.22412254 23.13338472] [ -0.73462754 0.67075553 0.10202648 -24.63166427] [ 0.22532026 0.09935338 0.9692057 62.01343497] [ 0. 0. 0. 1. ]] SLAMing on 96.02420609899998 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:23.30, Y:-24.50, Z:62.04 [[ 0.13849089 0.98239739 -0.12536207 23.30423061] [ -0.96359617 0.16289454 0.21200893 -24.49568079] [ 0.22869781 0.0914371 0.96919377 62.04249924] [ 0. 0. 0. 1. ]] SLAMing on 96.05420609899998 meters Centerline goodness : 0.997297 Centerline is valid? [True, True] Translation: X:23.05, Y:-24.78, Z:62.08 [[ 9.11212238e-01 3.36155162e-01 -2.38100745e-01 2.30534354e+01] [-3.46074947e-01 9.38206858e-01 1.48474418e-04 -2.47811195e+01] [ 2.23437663e-01 8.22654111e-02 9.71240451e-01 6.20780533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08420609899999 meters Centerline goodness : 0.997074 Centerline is valid? [True, True] Translation: X:23.05, Y:-24.73, Z:62.11 [[ 8.89125281e-01 3.87447120e-01 -2.43600008e-01 2.30470893e+01] [-3.91148644e-01 9.19659666e-01 3.50547662e-02 -2.47304592e+01] [ 2.37610970e-01 6.41157339e-02 9.69242075e-01 6.21137124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11420609899999 meters Centerline goodness : 0.996057 Centerline is valid? [True, True] Translation: X:23.05, Y:-24.75, Z:62.15 [[ 9.24619991e-01 2.90035950e-01 -2.46894756e-01 2.30450497e+01] [-2.92259212e-01 9.55916207e-01 2.84386550e-02 -2.47536579e+01] [ 2.44258931e-01 4.58623179e-02 9.68624913e-01 6.21468314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14420609899999 meters Centerline goodness : 0.994856 Centerline is valid? [True, True] Translation: X:23.05, Y:-24.74, Z:62.18 [[ 9.15339160e-01 3.20617219e-01 -2.43636656e-01 2.30503245e+01] [-3.21188168e-01 9.46232117e-01 3.85089937e-02 -2.47376918e+01] [ 2.42883476e-01 4.30044213e-02 9.69101768e-01 6.21794452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17420609899999 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:23.06, Y:-24.72, Z:62.21 [[ 9.02250552e-01 3.56567508e-01 -2.42494443e-01 2.30556121e+01] [-3.55806944e-01 9.33300843e-01 4.84866510e-02 -2.47212959e+01] [ 2.43609032e-01 4.25340990e-02 9.68940395e-01 6.22126893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20420609899998 meters Centerline goodness : 0.993424 Centerline is valid? [True, True] Translation: X:23.06, Y:-24.70, Z:62.25 [[ 8.82238046e-01 4.07923646e-01 -2.35062395e-01 2.30598656e+01] [-4.06428652e-01 9.11897694e-01 5.70819205e-02 -2.46978829e+01] [ 2.37637922e-01 4.51762505e-02 9.70302697e-01 6.22455670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.23420609899998 meters Centerline goodness : 0.994811 Centerline is valid? [True, True] Translation: X:23.06, Y:-24.71, Z:62.28 [[ 8.85928359e-01 3.94833941e-01 -2.43386734e-01 2.30617721e+01] [-3.92328725e-01 9.17810785e-01 6.08402349e-02 -2.47083978e+01] [ 2.47404759e-01 4.15875177e-02 9.68019299e-01 6.22773503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26420609899998 meters Centerline goodness : 0.994243 Centerline is valid? [True, True] Translation: X:23.07, Y:-24.69, Z:62.31 [[ 8.70951075e-01 4.31758170e-01 -2.34582837e-01 2.30663459e+01] [-4.28193370e-01 9.01073743e-01 6.86771259e-02 -2.46907562e+01] [ 2.41028345e-01 4.06323987e-02 9.69667131e-01 6.23100804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29420609899998 meters Centerline goodness : 0.994423 Centerline is valid? [True, True] Translation: X:23.06, Y:-24.70, Z:62.34 [[ 8.82440770e-01 4.05869102e-01 -2.37841459e-01 2.30649506e+01] [-4.02645023e-01 9.13096737e-01 6.42754606e-02 -2.47015014e+01] [ 2.43259684e-01 3.90463929e-02 9.69174961e-01 6.23418885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32420609899998 meters Centerline goodness : 0.995078 Centerline is valid? [True, True] Translation: X:23.09, Y:-24.67, Z:62.37 [[ 8.47020213e-01 4.81293109e-01 -2.25640649e-01 2.30865887e+01] [-4.74656481e-01 8.75907450e-01 8.65295588e-02 -2.46661373e+01] [ 2.39286405e-01 3.38095110e-02 9.70360208e-01 6.23739946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35420609899998 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] Translation: X:23.12, Y:-24.62, Z:62.41 [[ 7.79343532e-01 5.91628173e-01 -2.06397102e-01 2.31169953e+01] [-5.80487109e-01 8.05721135e-01 1.17678248e-01 -2.46186302e+01] [ 2.35920274e-01 2.80990760e-02 9.71366083e-01 6.24054745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38420609899998 meters Centerline goodness : 0.996041 Centerline is valid? [True, True] Translation: X:23.09, Y:-24.67, Z:62.44 [[ 8.57612156e-01 4.66162203e-01 -2.17242239e-01 2.30864146e+01] [-4.58571692e-01 8.84354127e-01 8.73486265e-02 -2.46659420e+01] [ 2.32837699e-01 2.47098973e-02 9.72201639e-01 6.24390934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.41420609899998 meters Centerline goodness : 0.996489 Centerline is valid? [True, True] Translation: X:23.08, Y:-24.68, Z:62.47 [[ 8.72669102e-01 4.33181153e-01 -2.25394602e-01 2.30820101e+01] [-4.26661492e-01 9.00909064e-01 7.95162175e-02 -2.46813181e+01] [ 2.37504966e-01 2.67758508e-02 9.71017222e-01 6.24738122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44420609899998 meters Centerline goodness : 0.996687 Centerline is valid? [True, True] Translation: X:23.14, Y:-24.59, Z:62.51 [[ 7.33465049e-01 6.54356322e-01 -1.83975070e-01 2.31426981e+01] [-6.38056551e-01 7.56111434e-01 1.45531226e-01 -2.45904584e+01] [ 2.34334931e-01 1.06444310e-02 9.72097647e-01 6.25082755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47420609899999 meters Centerline goodness : 0.997598 Centerline is valid? [True, True] Translation: X:23.28, Y:-24.49, Z:62.54 [[ 4.14200558e-01 9.05086715e-01 -9.62077766e-02 2.32793407e+01] [-8.80938764e-01 4.25225154e-01 2.07678746e-01 -2.44909422e+01] [ 2.28877241e-01 -1.26749259e-03 9.73454468e-01 6.25391954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50420609899999 meters Centerline goodness : 0.995582 Centerline is valid? [True, True] Translation: X:23.10, Y:-24.66, Z:62.57 [[ 8.58149991e-01 4.72046825e-01 -2.01867255e-01 2.31025466e+01] [-4.61456635e-01 8.81540881e-01 9.97168466e-02 -2.46568891e+01] [ 2.25025259e-01 7.58097346e-03 9.74323438e-01 6.25703694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53420609899999 meters Centerline goodness : 0.996384 Centerline is valid? [True, True] Translation: X:23.20, Y:-24.54, Z:62.60 [[ 6.07333443e-01 7.80519774e-01 -1.48104596e-01 2.32012185e+01] [-7.59409692e-01 6.25124107e-01 1.80324072e-01 -2.45404502e+01] [ 2.33330257e-01 2.95522662e-03 9.72393057e-01 6.26015315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56420609899999 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:23.05, Y:-24.93, Z:62.64 [[ 9.49563986e-01 -1.94343756e-01 -2.46086858e-01 2.30535393e+01] [ 1.86133332e-01 9.80902638e-01 -5.64304582e-02 -2.49308810e+01] [ 2.52354155e-01 7.77936401e-03 9.67603670e-01 6.26352774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.59420609899998 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:23.04, Y:-24.89, Z:62.67 [[ 9.64028786e-01 -7.83427960e-02 -2.53989972e-01 2.30441376e+01] [ 7.27847159e-02 9.96858844e-01 -3.12222866e-02 -2.48880729e+01] [ 2.55638191e-01 1.16125951e-02 9.66702779e-01 6.26683992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62420609899998 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:23.04, Y:-24.83, Z:62.70 [[ 9.61376042e-01 8.27471675e-02 -2.62505262e-01 2.30423837e+01] [-8.36630671e-02 9.96464302e-01 7.70624609e-03 -2.48264780e+01] [ 2.62214792e-01 1.45533950e-02 9.64899788e-01 6.27013072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65420609899998 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:23.05, Y:-24.77, Z:62.73 [[ 9.36530009e-01 2.31208468e-01 -2.63541621e-01 2.30511436e+01] [-2.26945597e-01 9.72775240e-01 4.69470847e-02 -2.47695463e+01] [ 2.67221328e-01 1.58422569e-02 9.63504948e-01 6.27347153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.06, Y:-24.75, Z:62.76 [[ 9.22976448e-01 2.79183838e-01 -2.64897832e-01 2.30600550e+01] [-2.70447821e-01 9.60209708e-01 6.96799296e-02 -2.47520989e+01] [ 2.73810981e-01 7.32810758e-03 9.61755606e-01 6.27634491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71420609899998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:23.05, Y:-24.88, Z:62.79 [[ 9.59627063e-01 -3.41516216e-02 -2.79194497e-01 2.30488694e+01] [ 3.05730200e-02 9.99385165e-01 -1.71633992e-02 -2.48777538e+01] [ 2.79608996e-01 7.93464339e-03 9.60081169e-01 6.27918585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74420609899998 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:23.21, Y:-24.54, Z:62.79 [[ 5.56993925e-01 7.98299064e-01 -2.29077219e-01 2.32083700e+01] [-7.68640936e-01 5.99969030e-01 2.21874456e-01 -2.45418070e+01] [ 3.14561407e-01 5.24954036e-02 9.47784445e-01 6.27922408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77420609899998 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:23.71, Y:-24.57, Z:62.85 [[-6.46427994e-01 7.46035148e-01 1.59882476e-01 2.37098220e+01] [-7.07124367e-01 -6.64505818e-01 2.41675707e-01 -2.45745801e+01] [ 2.86541407e-01 4.31691475e-02 9.57094795e-01 6.28466945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80420609899998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:23.80, Y:-24.71, Z:62.88 [[ -0.87704858 0.42778882 0.21859211 23.79948501] [ -0.3909843 -0.90001646 0.19261788 -24.70809992] [ 0.27913627 0.08346915 0.95661687 62.87785704] [ 0. 0. 0. 1. ]] SLAMing on 96.83420609899999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:23.63, Y:-25.22, Z:62.69 [[ -0.46717121 -0.85712205 0.21700886 23.6348763 ] [ 0.85734694 -0.49913701 -0.12577152 -25.220486 ] [ 0.2161187 0.12729505 0.96803341 62.68544354] [ 0. 0. 0. 1. ]] SLAMing on 96.86420609899999 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:23.32, Y:-25.24, Z:62.72 [[ 3.23658513e-01 -9.46031514e-01 -1.64177306e-02 2.33197320e+01] [ 9.23687076e-01 3.19679291e-01 -2.11204490e-01 -2.52400509e+01] [ 2.05054512e-01 5.31932855e-02 9.77304007e-01 6.27229892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.30, Y:-25.24, Z:62.76 [[ 3.55662153e-01 -9.34587964e-01 -7.05485991e-03 2.33020075e+01] [ 9.15418103e-01 3.49869149e-01 -1.99000690e-01 -2.52422597e+01] [ 1.88451927e-01 6.43188673e-02 9.79973956e-01 6.27580999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.59, Y:-25.22, Z:62.78 [[ -0.3513947 -0.90710478 0.23169525 23.58657857] [ 0.90733449 -0.39096393 -0.15456822 -25.22292909] [ 0.23079406 0.15591064 0.9604301 62.77780756] [ 0. 0. 0. 1. ]] SLAMing on 96.95420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.68, Y:-25.19, Z:62.87 [[-6.16147281e-01 -7.12537969e-01 3.35636962e-01 2.36806627e+01] [ 7.54935128e-01 -6.55769362e-01 -6.28459562e-03 -2.51947124e+01] [ 2.24578449e-01 2.49511896e-01 9.41970453e-01 6.28747099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.72, Y:-25.20, Z:62.98 [[ -0.69370229 -0.62054476 0.36565193 23.71826824] [ 0.69493159 -0.71009242 0.11330859 -25.20297572] [ 0.18933362 0.3327055 0.9238289 62.9792206 ] [ 0. 0. 0. 1. ]] SLAMing on 97.01420609899998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:23.75, Y:-25.20, Z:63.09 [[ -0.74493202 -0.54532485 0.3843138 23.75467543] [ 0.64896509 -0.72587133 0.22793665 -25.20204219] [ 0.15466285 0.41920354 0.89462159 63.08578883] [ 0. 0. 0. 1. ]] SLAMing on 97.04420609899998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:23.79, Y:-25.21, Z:63.21 [[ -0.78701248 -0.48507785 0.38119658 23.79102007] [ 0.60689622 -0.71975466 0.33709079 -25.2080423 ] [ 0.11085274 0.49664143 0.86084782 63.20531898] [ 0. 0. 0. 1. ]] SLAMing on 97.07420609899998 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:23.82, Y:-25.21, Z:63.33 [[-8.11961647e-01 -4.54352699e-01 3.66444961e-01 2.38209209e+01] [ 5.81111485e-01 -6.88385238e-01 4.34091241e-01 -2.52117200e+01] [ 5.50247744e-02 5.65410815e-01 8.22971983e-01 6.33279814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10420609899998 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:23.80, Y:-25.25, Z:63.48 [[-7.46788111e-01 -5.55871158e-01 3.65122956e-01 2.38049197e+01] [ 6.62856445e-01 -5.77434416e-01 4.76645391e-01 -2.52483984e+01] [-5.41188647e-02 5.97977216e-01 7.99683936e-01 6.34799230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13420609899998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:23.86, Y:-25.17, Z:63.55 [[-8.59446871e-01 -3.59996531e-01 3.62978751e-01 2.38568452e+01] [ 5.11216096e-01 -6.09405994e-01 6.06038313e-01 -2.51727057e+01] [ 3.02973581e-03 7.06418312e-01 7.07788096e-01 6.35544284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.16420609899998 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:23.34, Y:-25.33, Z:63.75 [[ 0.44914721 -0.89114672 0.0642208 23.33583323] [ 0.83485294 0.44420445 0.32511995 -25.32664234] [ -0.31825674 -0.0924118 0.94348964 63.74619923] [ 0. 0. 0. 1. ]] SLAMing on 97.19420609899998 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:23.27, Y:-25.28, Z:63.76 [[ 5.90763326e-01 -8.05752209e-01 4.19770197e-02 2.32705851e+01] [ 7.55256447e-01 5.70546590e-01 3.22589968e-01 -2.52816211e+01] [-2.83877425e-01 -1.58870908e-01 9.45607552e-01 6.37647017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22420609899999 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:23.23, Y:-24.68, Z:63.40 [[ 0.56246355 0.74372418 -0.36126042 23.22622808] [ -0.47279837 0.64774994 0.59739578 -24.6829159 ] [ 0.6783041 -0.16521002 0.71596731 63.39899637] [ 0. 0. 0. 1. ]] SLAMing on 97.25420609899999 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:23.90, Y:-24.70, Z:63.80 [[ -0.96634232 0.07026831 0.24747703 23.90231751] [ 0.15692969 -0.6012558 0.78349508 -24.69830746] [ 0.20385188 0.79596094 0.56999174 63.79533822] [ 0. 0. 0. 1. ]] SLAMing on 97.28420609899999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:23.25, Y:-25.00, Z:64.01 [[ 6.63442677e-01 -7.48218973e-01 -3.49028908e-03 2.32545515e+01] [ 7.30873954e-01 6.47050009e-01 2.17139467e-01 -2.50028018e+01] [-1.60209477e-01 -1.46610551e-01 9.76134350e-01 6.40147073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.31420609899999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:23.20, Y:-24.70, Z:63.42 [[ 0.60266151 0.66821598 -0.43621843 23.20385692] [ -0.43833902 0.73399098 0.51876405 -24.69584211] [ 0.66682682 -0.12142757 0.73525325 63.41769016] [ 0. 0. 0. 1. ]] SLAMing on 97.34420609899998 meters Centerline goodness : 0.998602 Centerline is valid? [True, True] Translation: X:23.90, Y:-24.70, Z:63.88 [[ -0.97133938 -0.07034497 0.22704933 23.9003678 ] [ 0.22413348 -0.58911159 0.77634511 -24.70028795] [ 0.07914542 0.80498393 0.58799394 63.88284227] [ 0. 0. 0. 1. ]] SLAMing on 97.37420609899998 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:23.25, Y:-24.97, Z:64.06 [[ 6.62922670e-01 -7.48474486e-01 -1.78739171e-02 2.32473150e+01] [ 7.38742443e-01 6.50051732e-01 1.78023449e-01 -2.49733963e+01] [-1.21627039e-01 -1.31220002e-01 9.83863900e-01 6.40630718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40420609899998 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:23.18, Y:-24.45, Z:63.76 [[ 5.77413578e-01 6.28964576e-01 -5.20573838e-01 2.31750793e+01] [-4.52308103e-01 7.77246041e-01 4.37385380e-01 -2.44532893e+01] [ 6.79713866e-01 -1.70924921e-02 7.33278193e-01 6.37562000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43420609899998 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:23.80, Y:-24.41, Z:63.86 [[ -0.86768033 0.49007906 -0.08338684 23.79724684] [ -0.30752919 -0.39736679 0.86459553 -24.40917584] [ 0.390585 0.77583642 0.49550097 63.85849623] [ 0. 0. 0. 1. ]] SLAMing on 97.46420609899998 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:23.26, Y:-24.92, Z:64.13 [[ 6.24897451e-01 -7.80615731e-01 -1.19271304e-02 2.32562263e+01] [ 7.77174993e-01 6.20546332e-01 1.04504927e-01 -2.49215713e+01] [-7.41768531e-02 -7.45743301e-02 9.94452846e-01 6.41289617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.15, Y:-24.42, Z:63.86 [[ 6.30285557e-01 5.36372529e-01 -5.61288364e-01 2.31541903e+01] [-4.40267491e-01 8.42419117e-01 3.10635749e-01 -2.44177946e+01] [ 6.39456530e-01 5.13277940e-02 7.67111989e-01 6.38568236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52420609899998 meters Centerline goodness : 0.999964 Centerline is valid? [True, True] Translation: X:23.14, Y:-24.38, Z:63.91 [[ 0.64677579 0.52747033 -0.55086852 23.1421368 ] [ -0.47746052 0.84326304 0.24685806 -24.38362467] [ 0.59473737 0.10335615 0.79724837 63.91248299] [ 0. 0. 0. 1. ]] SLAMing on 97.55420609899998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:23.61, Y:-24.20, Z:63.95 [[ -0.54006404 0.74821751 -0.38535879 23.61184213] [ -0.69317246 -0.13575296 0.70787222 -24.20483271] [ 0.47732879 0.64941642 0.59195906 63.95464343] [ 0. 0. 0. 1. ]] SLAMing on 97.58420609899999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:23.84, Y:-24.40, Z:64.14 [[-9.91655030e-01 1.24829071e-01 -3.22180869e-02 2.38371507e+01] [-1.03035146e-01 -6.17197186e-01 7.80032943e-01 -2.43968182e+01] [ 7.74858750e-02 7.76843187e-01 6.24908476e-01 6.41410213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61420609899999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:23.36, Y:-25.03, Z:63.91 [[ 5.12609215e-01 -8.58522352e-01 1.30829392e-02 2.33610727e+01] [ 8.58616762e-01 5.12599942e-01 -4.30762574e-03 -2.50295792e+01] [-3.00812091e-03 1.34413596e-02 9.99905136e-01 6.39081805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64420609899999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] SLAMing on 97.67420609899999 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] SLAMing on 97.70420609899998 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:23.26, Y:-24.93, Z:63.97 [[ 5.42060929e-01 -8.39663123e-01 3.37014749e-02 2.32551731e+01] [ 8.40192812e-01 5.42278998e-01 -3.08648843e-03 -2.49330599e+01] [-1.56839916e-02 2.99888018e-02 9.99427178e-01 6.39693244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.73420609899998 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] SLAMing on 97.76420609899998 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:23.93, Y:-24.58, Z:63.94 [[ -0.96913238 0.2144242 -0.12167458 23.92503545] [ -0.2233956 -0.55498134 0.80130526 -24.58207354] [ 0.10429212 0.80375244 0.5857518 63.94129746] [ 0. 0. 0. 1. ]] SLAMing on 97.79420609899998 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:23.33, Y:-24.35, Z:63.70 [[ 0.59459597 0.46607854 -0.65515374 23.32669736] [ -0.49808914 0.85317756 0.15490403 -24.35350202] [ 0.63115992 0.23421965 0.7394446 63.69677597] [ 0. 0. 0. 1. ]] SLAMing on 97.82420609899998 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:23.25, Y:-24.94, Z:63.93 [[ 4.76955849e-01 -8.78169353e-01 3.64925336e-02 2.32450666e+01] [ 8.78837735e-01 4.75903469e-01 -3.40605738e-02 -2.49353250e+01] [ 1.25440287e-02 4.83164055e-02 9.98753309e-01 6.39271122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.90, Y:-24.63, Z:64.06 [[-9.97136117e-01 4.03929577e-02 -6.39372558e-02 2.39007111e+01] [-7.45081859e-02 -6.69621016e-01 7.38956173e-01 -2.46273621e+01] [-1.29651048e-02 7.41603738e-01 6.70712906e-01 6.40648024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.37, Y:-24.28, Z:63.78 [[ 0.44385403 0.59080008 -0.67375727 23.36617505] [ -0.63152309 0.73965937 0.23255666 -24.27757008] [ 0.63574537 0.32227207 0.70140469 63.78499393] [ 0. 0. 0. 1. ]] SLAMing on 97.91420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.28, Y:-24.95, Z:64.01 [[ 3.14829516e-01 -9.49101414e-01 9.42772396e-03 2.32833338e+01] [ 9.49139969e-01 3.14852701e-01 1.04657590e-03 -2.49504354e+01] [-3.96165102e-03 8.61873665e-03 9.99955010e-01 6.40096757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.86, Y:-24.62, Z:64.20 [[-9.92397377e-01 -9.42628386e-02 -7.91325735e-02 2.38554467e+01] [ 1.69003280e-02 -7.41243149e-01 6.71023825e-01 -2.46163685e+01] [-1.21909088e-01 6.64584917e-01 7.37200829e-01 6.42032778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97420609899999 meters Centerline goodness : 0.981774 Centerline is valid? [True, True] Translation: X:23.49, Y:-24.19, Z:63.91 [[ 0.11450753 0.68059624 -0.72365515 23.49154421] [ -0.79908968 0.49588376 0.33993379 -24.19364391] [ 0.5902065 0.53934039 0.60063986 63.91054287] [ 0. 0. 0. 1. ]] SLAMing on 98.00420609899999 meters Centerline goodness : 0.956208 Centerline is valid? [True, True] Translation: X:23.29, Y:-24.94, Z:64.03 [[ 1.80604039e-01 -9.83365693e-01 1.93415298e-02 2.32856176e+01] [ 9.83541756e-01 1.80461110e-01 -8.91081163e-03 -2.49448703e+01] [ 5.27219251e-03 2.06325307e-02 9.99773226e-01 6.40315756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03420609899999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:23.81, Y:-24.46, Z:64.30 [[ -0.9464368 0.18392546 -0.26538428 23.80968198] [ -0.31129033 -0.73806103 0.59863532 -24.4606387 ] [ -0.08576552 0.64918206 0.75578233 64.30489125] [ 0. 0. 0. 1. ]] SLAMing on 98.06420609899999 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:23.28, Y:-24.18, Z:64.02 [[ 0.44336606 0.57978055 -0.68357959 23.27506244] [ -0.64496113 0.73595879 0.20588783 -24.18267447] [ 0.62245617 0.34959859 0.70023507 64.0170236 ] [ 0. 0. 0. 1. ]] SLAMing on 98.09420609899998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:23.40, Y:-24.93, Z:64.14 [[ -0.18895021 -0.97844815 -0.08328892 23.39889695] [ 0.97798351 -0.19515257 0.07391707 -24.93118609] [ -0.08857807 -0.06748854 0.99378027 64.13786759] [ 0. 0. 0. 1. ]] SLAMing on 98.12420609899998 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:23.47, Y:-25.01, Z:63.87 [[ -0.18895021 -0.97844815 -0.08328892 23.47064537] [ 0.97798351 -0.19515257 0.07391707 -25.01354927] [ -0.08857807 -0.06748854 0.99378027 63.87216043] [ 0. 0. 0. 1. ]] SLAMing on 98.15420609899998 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] SLAMing on 98.18420609899998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] SLAMing on 98.21420609899998 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:23.73, Y:-24.37, Z:64.22 [[-7.17756850e-01 4.82227573e-01 -5.02276490e-01 2.37286888e+01] [-6.96232747e-01 -4.87493337e-01 5.26887282e-01 -2.43704822e+01] [ 9.22313266e-03 7.27878296e-01 6.85644310e-01 6.42180398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24420609899998 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:23.27, Y:-24.27, Z:63.87 [[ 0.18675195 -0.57611754 0.79574637 23.2660145 ] [ -0.97294416 -0.22061748 0.06861183 -24.27130996] [ 0.13602708 -0.78703018 -0.60173094 63.8689566 ] [ 0. 0. 0. 1. ]] SLAMing on 98.27420609899998 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:23.73, Y:-24.21, Z:63.97 [[-6.44064448e-01 -2.83666984e-02 7.64445104e-01 2.37316187e+01] [-6.08802564e-01 6.24084501e-01 -4.89773390e-01 -2.42052706e+01] [-4.63185087e-01 -7.80841768e-01 -4.19220359e-01 6.39744590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30420609899998 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:23.95, Y:-24.42, Z:64.02 [[-7.27659674e-01 4.42091717e-01 5.24467647e-01 2.39536396e+01] [-4.63822984e-02 7.31136900e-01 -6.80652272e-01 -2.44180702e+01] [-6.84368381e-01 -5.19609225e-01 -5.11513609e-01 6.40181692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.33420609899999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:24.06, Y:-24.99, Z:63.98 [[-1.13647910e-01 9.92815236e-01 -3.74440860e-02 2.40594456e+01] [ 8.38509690e-01 7.56329999e-02 -5.39612035e-01 -2.49916402e+01] [-5.32903041e-01 -9.27230091e-02 -8.41080729e-01 6.39844543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36420609899999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:23.67, Y:-25.26, Z:63.62 [[ 8.00877127e-01 5.96099596e-01 -5.71060265e-02 2.36746682e+01] [ 5.98738190e-01 -7.95448597e-01 9.36702127e-02 -2.52649516e+01] [ 1.04118673e-02 -1.09209890e-01 -9.93964181e-01 6.36231008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39420609899999 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:23.45, Y:-24.99, Z:63.20 [[ 0.87951998 -0.18357399 0.43902756 23.45261575] [ -0.38078496 -0.82481297 0.417955 -24.99343989] [ 0.28538996 -0.53477486 -0.7953417 63.19819694] [ 0. 0. 0. 1. ]] SLAMing on 98.42420609899999 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:23.75, Y:-24.54, Z:63.10 [[-9.01312016e-02 -4.29121284e-01 8.98738722e-01 2.37523508e+01] [-9.82467498e-01 1.86185055e-01 -9.63016952e-03 -2.45382268e+01] [-1.63199208e-01 -8.83849563e-01 -4.38378797e-01 6.30970205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.45420609899998 meters Centerline goodness : 0.999949 Centerline is valid? [True, True] Translation: X:24.04, Y:-24.51, Z:63.12 [[ -0.53710591 -0.10821059 0.83654511 24.04452842] [ -0.70032436 0.60999856 -0.37073918 -24.50970874] [ -0.47017341 -0.78497912 -0.40341634 63.11705354] [ 0. 0. 0. 1. ]] SLAMing on 98.48420609899998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:24.21, Y:-24.59, Z:63.11 [[ -0.67353812 0.12198441 0.72901728 24.21012229] [ -0.42863057 0.73906179 -0.51967635 -24.58625053] [ -0.60218123 -0.66250093 -0.44550005 63.1131214 ] [ 0. 0. 0. 1. ]] SLAMing on 98.51420609899998 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:24.30, Y:-24.61, Z:63.06 [[ -0.70931636 0.2307388 0.66605548 24.30082138] [ -0.2827239 0.77244333 -0.56868136 -24.61083502] [ -0.64570697 -0.5916848 -0.48267132 63.06153913] [ 0. 0. 0. 1. ]] SLAMing on 98.54420609899998 meters Centerline goodness : 0.999948 Centerline is valid? [True, True] Translation: X:24.40, Y:-24.67, Z:63.02 [[ -0.72581766 0.30930185 0.61442745 24.40369231] [ -0.16343325 0.7900954 -0.59079508 -24.66883674] [ -0.66819032 -0.52922738 -0.52291499 63.02256616] [ 0. 0. 0. 1. ]] SLAMing on 98.57420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.50, Y:-24.70, Z:62.94 [[ -0.74097202 0.31891513 0.59097683 24.50041583] [ -0.12571776 0.79860135 -0.58858383 -24.69882947] [ -0.65966318 -0.51042043 -0.55164796 62.94439867] [ 0. 0. 0. 1. ]] SLAMing on 98.60420609899998 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:24.56, Y:-24.71, Z:62.86 [[ -0.74791877 0.29652091 0.5938795 24.56056117] [ -0.12231793 0.81779271 -0.56236412 -24.71252382] [ -0.65242305 -0.49324479 -0.57537269 62.85623247] [ 0. 0. 0. 1. ]] SLAMing on 98.63420609899998 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:24.64, Y:-24.76, Z:62.78 [[ -0.75811819 0.31109258 0.5731302 24.63988288] [ -0.07579224 0.83088595 -0.55125682 -24.76085871] [ -0.64769773 -0.46135664 -0.60633134 62.78343271] [ 0. 0. 0. 1. ]] SLAMing on 98.66420609899998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:24.71, Y:-24.80, Z:62.71 [[-7.66638172e-01 3.09817969e-01 5.62386646e-01 2.47138886e+01] [-5.34606913e-02 8.42041810e-01 -5.36756504e-01 -2.47970412e+01] [-6.39849879e-01 -4.41563604e-01 -6.28978311e-01 6.27060753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.69420609899998 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:24.98, Y:-25.44, Z:62.60 [[ -0.17760258 0.98161485 -0.06992578 24.98067276] [ 0.91824696 0.13974241 -0.37053284 -25.43954876] [ -0.35394894 -0.13001672 -0.92618346 62.59898957] [ 0. 0. 0. 1. ]] SLAMing on 98.72420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.56, Y:-25.75, Z:62.23 [[ 8.08452722e-01 5.75183491e-01 -1.24772385e-01 2.45576023e+01] [ 5.86738249e-01 -7.70958074e-01 2.47713291e-01 -2.57487719e+01] [ 4.62863173e-02 -2.73473215e-01 -9.60765308e-01 6.22322479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.24, Y:-25.17, Z:61.95 [[ 0.57172353 -0.59333267 0.56664676 24.23751163] [ -0.81571658 -0.33702365 0.47012926 -25.16874849] [ -0.08796969 -0.73100711 -0.67667565 61.94682793] [ 0. 0. 0. 1. ]] SLAMing on 98.78420609899999 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:24.58, Y:-24.81, Z:61.99 [[-3.34919776e-01 -5.10954569e-01 7.91678073e-01 2.45773319e+01] [-8.34178500e-01 5.51486200e-01 3.03345150e-03 -2.48082501e+01] [-4.38149488e-01 -6.59384864e-01 -6.10930951e-01 6.19883590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81420609899997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:24.72, Y:-24.76, Z:61.92 [[ -0.49718446 -0.33245246 0.80142559 24.71933313] [ -0.70162639 0.69743606 -0.14595666 -24.76164995] [ -0.51041946 -0.63486873 -0.58001179 61.91826952] [ 0. 0. 0. 1. ]] SLAMing on 98.84420609899998 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:25.09, Y:-24.89, Z:61.88 [[ -0.80560183 0.09472663 0.58483549 25.08689768] [ -0.13866779 0.92956815 -0.3415762 -24.88658557] [ -0.57600081 -0.35627225 -0.73572627 61.87513607] [ 0. 0. 0. 1. ]] SLAMing on 98.87420609899998 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:25.14, Y:-24.89, Z:61.77 [[ -0.81138208 0.11353053 0.57338464 25.14131854] [ -0.11771135 0.92912204 -0.35053713 -24.88730903] [ -0.57254097 -0.35191342 -0.74050914 61.7740154 ] [ 0. 0. 0. 1. ]] SLAMing on 98.90420609899998 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:25.29, Y:-25.55, Z:61.60 [[-2.99862153e-02 9.98288166e-01 -5.02151763e-02 2.52890808e+01] [ 9.60586486e-01 1.48910066e-02 -2.77582169e-01 -2.55547932e+01] [-2.76359240e-01 -5.65596584e-02 -9.59388647e-01 6.16002666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93420609899998 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:24.75, Y:-25.63, Z:61.22 [[ 9.89632787e-01 1.38552558e-01 -3.78171226e-02 2.47470983e+01] [ 1.42747572e-01 -9.19911506e-01 3.65220415e-01 -2.56313130e+01] [ 1.58138165e-02 -3.66832400e-01 -9.30152629e-01 6.12152782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96420609899998 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:24.82, Y:-25.01, Z:61.17 [[ 5.18759489e-02 -8.14681611e-01 5.77583551e-01 2.48201847e+01] [-9.01588644e-01 2.10519617e-01 3.77914550e-01 -2.50083014e+01] [-4.29472703e-01 -5.40347446e-01 -7.23586785e-01 6.11690360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99420609899998 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:25.15, Y:-24.95, Z:61.18 [[ -0.58548367 -0.4535647 0.67192853 25.14756109] [ -0.54945442 0.83144324 0.08247412 -24.94540047] [ -0.59607778 -0.32090685 -0.73600956 61.1799024 ] [ 0. 0. 0. 1. ]] SLAMing on 99.02420609899998 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:25.46, Y:-25.64, Z:60.95 [[ -0.07209795 0.99283639 0.0952774 25.46081661] [ 0.98787506 0.08425162 -0.13040145 -25.64440431] [ -0.13749458 0.08472049 -0.98687268 60.9510798 ] [ 0. 0. 0. 1. ]] SLAMing on 99.05420609899998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:25.22, Y:-24.93, Z:60.91 [[ -0.38680585 -0.80781176 0.44477116 25.21971004] [ -0.79285462 0.53763022 0.28694128 -24.93496467] [ -0.47091696 -0.2416483 -0.8484358 60.90501167] [ 0. 0. 0. 1. ]] SLAMing on 99.08420609899999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:25.25, Y:-24.92, Z:60.85 [[ -0.42686519 -0.78356825 0.45144977 25.25066286] [ -0.76989268 0.57677434 0.2731238 -24.92227223] [ -0.47439578 -0.23098083 -0.84946836 60.84955814] [ 0. 0. 0. 1. ]] SLAMing on 99.11420609899999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:25.29, Y:-24.92, Z:60.80 [[ -0.47827198 -0.75325461 0.45151235 25.28839955] [ -0.7354708 0.6245115 0.26280808 -24.915164 ] [ -0.47993605 -0.20638041 -0.85268313 60.79604235] [ 0. 0. 0. 1. ]] SLAMing on 99.14420609899999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:25.33, Y:-24.90, Z:60.72 [[ -0.5305465 -0.71661663 0.45274829 25.332415 ] [ -0.69691041 0.67281234 0.24827291 -24.90202941] [ -0.48253113 -0.18380467 -0.85637582 60.71576307] [ 0. 0. 0. 1. ]] SLAMing on 99.17420609899999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:25.37, Y:-24.89, Z:60.66 [[ -0.57506051 -0.67837158 0.45729358 25.37377928] [ -0.65761048 0.71580313 0.23489217 -24.89132055] [ -0.48667635 -0.16564384 -0.85773437 60.66251545] [ 0. 0. 0. 1. ]] SLAMing on 99.20420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.64, Y:-25.06, Z:60.58 [[-8.64364073e-01 1.27682134e-01 4.86386701e-01 2.56402067e+01] [ 9.86090693e-02 9.91486225e-01 -8.50371538e-02 -2.50630954e+01] [-4.93103439e-01 -2.55409207e-02 -8.69595688e-01 6.05836270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.23420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.59, Y:-24.94, Z:60.42 [[-8.37037099e-01 -6.35102679e-02 5.43447643e-01 2.55908184e+01] [-1.01668647e-01 9.93996440e-01 -4.04297445e-02 -2.49440791e+01] [-5.37617318e-01 -8.90927828e-02 -8.38468899e-01 6.04230431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.40, Y:-24.84, Z:60.25 [[ -0.55530774 -0.60444809 0.57120558 25.40438349] [ -0.62281635 0.75741578 0.1960131 -24.84077668] [ -0.55111986 -0.24690858 -0.797059 60.24861438] [ 0. 0. 0. 1. ]] SLAMing on 99.29420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.18, Y:-24.89, Z:60.03 [[ 2.89847666e-02 -9.11759610e-01 4.09700252e-01 2.51806756e+01] [-8.94281225e-01 1.59458772e-01 4.18131547e-01 -2.48913765e+01] [-4.46565755e-01 -3.78506689e-01 -8.10747626e-01 6.00324472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.47, Y:-25.22, Z:58.17 [[ 6.76998172e-03 -9.99633804e-01 2.61997330e-02 2.54725386e+01] [ 8.88198804e-01 -6.02579369e-03 -4.59419824e-01 -2.52171930e+01] [ 4.59409461e-01 2.63808353e-02 8.87832754e-01 5.81685764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 99.38420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 99.41420609899998 meters Centerline goodness : 0.999971 Centerline is valid? [True, True] SLAMing on 99.44420609899998 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] SLAMing on 99.47420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 99.50420609899999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] SLAMing on 99.53420609899999 meters Centerline goodness : 0.999971 Centerline is valid? [True, True] SLAMing on 99.56420609899997 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] SLAMing on 99.59420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 99.62420609899998 meters Centerline goodness : 0.999969 Centerline is valid? [True, True] SLAMing on 99.65420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 99.68420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 99.71420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 99.74420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 99.77420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 99.80420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 99.83420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 99.86420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 99.89420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 99.92420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 99.95420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 99.98420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.01420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.04420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.07420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.10420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.13420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.16420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.19420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.22420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.25420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.28420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.31420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.34420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.37420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.40420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.43420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.46420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.49420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.52420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.55420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.58420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.61420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.64420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.67420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.70420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.73420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.76420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.79420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.82420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.85420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.88420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.91420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.94420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 100.97420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.00420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.03420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.06420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.09420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.12420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.15420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.18420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.21420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.24420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.27420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.30420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.33420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.36420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.39420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.42420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.45420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.48420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.51420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.54420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.57420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.60420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.63420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.66420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.69420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.72420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.75420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.78420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.81420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.84420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.87420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.90420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.93420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.96420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 101.99420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.02420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.05420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.08420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.11420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.14420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.17420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.20420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.23420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.26420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.29420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.32420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.35420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.38420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.41420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.44420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.47420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.50420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.53420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.56420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.59420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.62420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.65420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.68420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.71420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.74420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.77420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.80420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.83420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.86420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.89420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.92420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.95420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 102.98420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.01420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.04420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.07420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.10420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.13420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.16420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.19420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.22420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.25420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.28420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.31420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.34420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.37420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.40420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.43420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.46420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.49420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.52420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.55420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.58420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.61420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.64420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.67420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.70420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.73420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.76420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.79420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.82420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.85420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.88420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.91420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.94420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 103.97420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.00420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.03420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.06420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.09420609899998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] SLAMing on 104.12420609899998 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] SLAMing on 104.15420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.18420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.21420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.24420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.27420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.30420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.33420609899999 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] SLAMing on 104.36420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.39420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.42420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.45420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.48420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.51420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.54420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.57420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.60420609899998 meters Centerline goodness : 0.999970 Centerline is valid? [True, True] SLAMing on 104.63420609899998 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] SLAMing on 104.66420609899998 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] SLAMing on 104.69420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.72420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.75420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.78420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.81420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.84420609899998 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] SLAMing on 104.87420609899998 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] SLAMing on 104.90420609899998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] SLAMing on 104.93420609899998 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] SLAMing on 104.96420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 104.99420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 105.02420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 105.05420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 105.08420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 105.11420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 105.14420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 105.17420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 105.20420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 105.23420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 105.26420609899998 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] SLAMing on 105.29420609899998 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] SLAMing on 105.32420609899998 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] SLAMing on 105.35420609899998 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] SLAMing on 105.38420609899998 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] SLAMing on 105.41420609899998 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] SLAMing on 105.44420609899998 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] SLAMing on 105.47420609899999 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] SLAMing on 105.50420609899999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] SLAMing on 105.53420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 105.56420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 105.59420609899998 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] SLAMing on 105.62420609899998 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] SLAMing on 105.65420609899998 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] SLAMing on 105.68420609899998 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] SLAMing on 105.71420609899998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] SLAMing on 105.74420609899998 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] SLAMing on 105.77420609899998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] SLAMing on 105.80420609899998 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] SLAMing on 105.83420609899999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] SLAMing on 105.86420609899999 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] SLAMing on 105.89420609899999 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] SLAMing on 105.92420609899997 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] SLAMing on 105.95420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 105.98420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 106.01420609899998 meters Centerline goodness : 0.999969 Centerline is valid? [True, True] SLAMing on 106.04420609899998 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] SLAMing on 106.07420609899998 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] SLAMing on 106.10420609899998 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] SLAMing on 106.13420609899998 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] SLAMing on 106.16420609899998 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] SLAMing on 106.19420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 106.22420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 106.25420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 106.28420609899997 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] SLAMing on 106.31420609899997 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] SLAMing on 106.34420609899998 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] SLAMing on 106.37420609899998 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] SLAMing on 106.40420609899998 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] SLAMing on 106.43420609899998 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] SLAMing on 106.46420609899998 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] SLAMing on 106.49420609899998 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] SLAMing on 106.52420609899998 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] SLAMing on 106.55420609899998 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] SLAMing on 106.58420609899999 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] SLAMing on 106.61420609899999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] SLAMing on 106.64420609899999 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] SLAMing on 106.67420609899997 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] SLAMing on 106.70420609899998 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] SLAMing on 106.73420609899998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] SLAMing on 106.76420609899998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] SLAMing on 106.79420609899998 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] SLAMing on 106.82420609899998 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] SLAMing on 106.85420609899998 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] SLAMing on 106.88420609899998 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] SLAMing on 106.91420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 106.94420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 106.97420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 107.00420609899999 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] SLAMing on 107.03420609899997 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] SLAMing on 107.06420609899997 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] SLAMing on 107.09420609899998 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] SLAMing on 107.12420609899998 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] SLAMing on 107.15420609899998 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] SLAMing on 107.18420609899998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] SLAMing on 107.21420609899998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] SLAMing on 107.24420609899998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] SLAMing on 107.27420609899998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] SLAMing on 107.30420609899998 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] SLAMing on 107.33420609899999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] SLAMing on 107.36420609899999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] SLAMing on 107.39420609899999 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] SLAMing on 107.42420609899997 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] SLAMing on 107.45420609899998 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] SLAMing on 107.48420609899998 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] SLAMing on 107.51420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 107.54420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 107.57420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 107.60420609899998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] SLAMing on 107.63420609899998 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] SLAMing on 107.66420609899998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] SLAMing on 107.69420609899998 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] SLAMing on 107.72420609899999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] SLAMing on 107.75420609899999 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] SLAMing on 107.78420609899997 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] SLAMing on 107.81420609899997 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] SLAMing on 107.84420609899998 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] SLAMing on 107.87420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 107.90420609899998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] SLAMing on 107.93420609899998 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] SLAMing on 107.96420609899998 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] SLAMing on 107.99420609899998 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] SLAMing on 108.02420609899998 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] SLAMing on 108.05420609899998 meters Centerline goodness : 0.995906 Centerline is valid? [True, True] SLAMing on 108.08420609899999 meters Centerline goodness : 0.318371 Centerline is valid? [True, False] Translation: X:25.52, Y:-25.28, Z:58.13 [[ 2.34333740e-01 -9.70070311e-01 -6.36497489e-02 2.55184724e+01] [ 8.68485393e-01 2.38314840e-01 -4.34671323e-01 -2.52825720e+01] [ 4.36830425e-01 4.65792798e-02 8.98337103e-01 5.81306346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11420609899999 meters Centerline goodness : 0.994946 Centerline is valid? [False, True] Translation: X:25.46, Y:-25.30, Z:58.23 [[ 3.95848062e-01 -9.02573790e-01 -1.69307015e-01 2.54626340e+01] [ 8.24578020e-01 4.30497480e-01 -3.67073574e-01 -2.53011854e+01] [ 4.04197230e-01 5.69851941e-03 9.14654102e-01 5.82253169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14420609899999 meters Centerline goodness : 0.993750 Centerline is valid? [True, True] Translation: X:25.78, Y:-24.58, Z:58.40 [[-2.75171235e-01 9.60826572e-01 3.30619174e-02 2.57805811e+01] [-9.54411591e-01 -2.77148320e-01 1.10848200e-01 -2.45811409e+01] [ 1.15668951e-01 -1.05244099e-03 9.93287263e-01 5.84039016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17420609899997 meters Centerline goodness : 0.990942 Centerline is valid? [True, True] Translation: X:25.91, Y:-25.25, Z:58.34 [[ -0.68859709 -0.70175597 0.1826817 25.90958518] [ 0.63680645 -0.70571135 -0.31056246 -25.25290422] [ 0.34685961 -0.09751952 0.93283351 58.3365163 ] [ 0. 0. 0. 1. ]] SLAMing on 108.20420609899998 meters Centerline goodness : 0.973709 Centerline is valid? [True, True] Translation: X:25.66, Y:-24.55, Z:58.46 [[ 4.53009296e-02 9.98563409e-01 2.86171877e-02 2.56610174e+01] [-9.94913900e-01 4.25184139e-02 9.13154779e-02 -2.45468974e+01] [ 8.99675375e-02 -3.26083138e-02 9.95410739e-01 5.84611919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.23420609899998 meters Centerline goodness : 0.989044 Centerline is valid? [True, True] Translation: X:25.54, Y:-24.58, Z:58.49 [[ 3.33022665e-01 9.42159151e-01 -3.78422989e-02 2.55415355e+01] [-9.37533783e-01 3.35137055e-01 9.33464526e-02 -2.45755804e+01] [ 1.00629571e-01 4.39194919e-03 9.94914268e-01 5.84916948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26420609899998 meters Centerline goodness : 0.284778 Centerline is valid? [True, False] Translation: X:25.53, Y:-24.57, Z:58.42 [[ 3.88887388e-01 9.19159699e-01 -6.25463600e-02 2.55268515e+01] [-9.14916053e-01 3.93277057e-01 9.08942967e-02 -2.45743113e+01] [ 1.08144423e-01 2.18770232e-02 9.93894451e-01 5.84233235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29420609899998 meters Centerline goodness : 0.964084 Centerline is valid? [False, True] Translation: X:25.51, Y:-24.56, Z:58.45 [[ 4.37578573e-01 8.93805244e-01 -9.81691286e-02 2.55147999e+01] [-8.94297366e-01 4.43963183e-01 5.59366879e-02 -2.45631222e+01] [ 9.35799838e-02 6.33156970e-02 9.93596452e-01 5.84532675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32420609899998 meters Centerline goodness : 0.984597 Centerline is valid? [True, True] SLAMing on 108.35420609899998 meters Centerline goodness : 0.981121 Centerline is valid? [True, True] SLAMing on 108.38420609899998 meters Centerline goodness : 0.981535 Centerline is valid? [True, True] SLAMing on 108.41420609899998 meters Centerline goodness : 0.950528 Centerline is valid? [True, True] SLAMing on 108.44420609899998 meters Centerline goodness : 0.978446 Centerline is valid? [True, True] SLAMing on 108.47420609899999 meters Centerline goodness : 0.941918 Centerline is valid? [True, False] Translation: X:25.50, Y:-24.57, Z:58.50 [[ 4.87461318e-01 8.65688495e-01 -1.13863485e-01 2.54962371e+01] [-8.66954042e-01 4.95373288e-01 5.47356865e-02 -2.45712139e+01] [ 1.03788983e-01 7.20328786e-02 9.91987455e-01 5.84951121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50420609899999 meters Centerline goodness : 0.979110 Centerline is valid? [False, True] Translation: X:25.46, Y:-24.56, Z:58.56 [[ 5.43119500e-01 8.22922750e-01 -1.66791356e-01 2.54626920e+01] [-8.35161395e-01 5.49971733e-01 -6.04460349e-03 -2.45595945e+01] [ 8.67562893e-02 1.42580643e-01 9.85973684e-01 5.85589429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53420609899997 meters Centerline goodness : 0.979206 Centerline is valid? [True, True] SLAMing on 108.56420609899997 meters Centerline goodness : 0.978500 Centerline is valid? [True, True] SLAMing on 108.59420609899998 meters Centerline goodness : 0.985037 Centerline is valid? [True, True] SLAMing on 108.62420609899998 meters Centerline goodness : 0.983273 Centerline is valid? [True, True] SLAMing on 108.65420609899998 meters Centerline goodness : 0.985753 Centerline is valid? [True, True] SLAMing on 108.68420609899998 meters Centerline goodness : 0.986296 Centerline is valid? [True, True] SLAMing on 108.71420609899998 meters Centerline goodness : 0.986429 Centerline is valid? [True, True] SLAMing on 108.74420609899998 meters Centerline goodness : 0.990418 Centerline is valid? [True, True] SLAMing on 108.77420609899998 meters Centerline goodness : 0.988373 Centerline is valid? [True, True] SLAMing on 108.80420609899998 meters Centerline goodness : 0.991441 Centerline is valid? [True, True] SLAMing on 108.83420609899999 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] SLAMing on 108.86420609899999 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] SLAMing on 108.89420609899999 meters Centerline goodness : 0.991486 Centerline is valid? [True, True] SLAMing on 108.92420609899997 meters Centerline goodness : 0.996200 Centerline is valid? [True, True] SLAMing on 108.95420609899998 meters Centerline goodness : 0.432156 Centerline is valid? [True, False] Translation: X:25.42, Y:-24.58, Z:58.60 [[ 5.90355498e-01 7.70240704e-01 -2.41266747e-01 2.54193946e+01] [-7.97710401e-01 6.02346114e-01 -2.89357167e-02 -2.45776457e+01] [ 1.23038621e-01 2.09543353e-01 9.70027361e-01 5.86040389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98420609899998 meters Centerline goodness : 0.996638 Centerline is valid? [False, True] Translation: X:25.39, Y:-24.60, Z:58.62 [[ 0.65771423 0.69734423 -0.28482104 25.39257157] [ -0.73927684 0.67011241 -0.06647638 -24.6026411 ] [ 0.14450519 0.25428406 0.9562729 58.62474619] [ 0. 0. 0. 1. ]] SLAMing on 109.01420609899998 meters Centerline goodness : 0.996200 Centerline is valid? [True, True] Translation: X:25.44, Y:-25.21, Z:58.45 [[ 0.51601907 -0.83337923 -0.19799843 25.44024512] [ 0.65812799 0.53368303 -0.53108378 -25.2090382 ] [ 0.54826259 0.14374105 0.82386082 58.45311255] [ 0. 0. 0. 1. ]] SLAMing on 109.04420609899998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:25.93, Y:-25.22, Z:58.54 [[ -0.71373246 -0.65251857 0.25456921 25.93350476] [ 0.52163548 -0.73774836 -0.42851345 -25.22462012] [ 0.467421 -0.17305162 0.8669318 58.53506845] [ 0. 0. 0. 1. ]] SLAMing on 109.07420609899998 meters Centerline goodness : 0.998242 Centerline is valid? [True, True] Translation: X:25.55, Y:-24.58, Z:58.75 [[ 2.41690443e-01 9.70326527e-01 -7.22222604e-03 2.55547540e+01] [-9.69615801e-01 2.41790184e-01 3.71847550e-02 -2.45831203e+01] [ 3.78276176e-02 -1.98441544e-03 9.99282309e-01 5.87462383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10420609899998 meters Centerline goodness : 0.885657 Centerline is valid? [True, False] Translation: X:25.52, Y:-24.60, Z:58.74 [[ 3.37035494e-01 9.39109782e-01 -6.69320098e-02 2.55228239e+01] [-9.40001480e-01 3.39649163e-01 3.21817343e-02 -2.45952831e+01] [ 5.29555825e-02 5.20698016e-02 9.97238408e-01 5.87424497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13420609899998 meters Centerline goodness : 0.998684 Centerline is valid? [False, True] Translation: X:25.48, Y:-24.62, Z:58.84 [[ 4.67527054e-01 8.69011951e-01 -1.61977415e-01 2.54770866e+01] [-8.82180078e-01 4.70359304e-01 -2.28130377e-02 -2.46237131e+01] [ 5.63627818e-02 1.53558961e-01 9.86530731e-01 5.88406291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16420609899998 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:25.67, Y:-24.58, Z:58.87 [[ 5.41707576e-04 9.99945899e-01 -1.03877513e-02 2.56741152e+01] [-9.99991492e-01 5.84153472e-04 4.08355001e-03 -2.45845796e+01] [ 4.08939712e-03 1.03854509e-02 9.99937708e-01 5.88650613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.19420609899998 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:26.06, Y:-24.97, Z:58.75 [[-9.57756494e-01 3.80585230e-02 2.85050955e-01 2.60614155e+01] [-1.09345135e-01 -9.64952567e-01 -2.38558556e-01 -2.49659058e+01] [ 2.65981464e-01 -2.59649941e-01 9.28351102e-01 5.87509236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22420609899999 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:25.70, Y:-24.57, Z:58.85 [[-5.96727866e-02 9.98094830e-01 1.56801833e-02 2.57006205e+01] [-9.97531638e-01 -6.02068074e-02 3.61354560e-02 -2.45719508e+01] [ 3.70106656e-02 -1.34851756e-02 9.99223879e-01 5.88491065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25420609899999 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:25.68, Y:-24.57, Z:58.85 [[-1.78991645e-02 9.99794844e-01 -9.48099903e-03 2.56812534e+01] [-9.99124560e-01 -1.75269474e-02 3.79857905e-02 -2.45711154e+01] [ 3.78118245e-02 1.01526129e-02 9.99233301e-01 5.88516195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28420609899997 meters Centerline goodness : 0.999965 Centerline is valid? [True, True] Translation: X:25.70, Y:-24.58, Z:58.86 [[-6.26176639e-02 9.98011655e-01 -7.19474271e-03 2.56980210e+01] [-9.97331924e-01 -6.23007248e-02 3.80480262e-02 -2.45750426e+01] [ 3.75241359e-02 9.55802511e-03 9.99250010e-01 5.88574068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.31420609899997 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:25.71, Y:-24.58, Z:58.86 [[-1.09497479e-01 9.93970636e-01 -5.71640972e-03 2.57139845e+01] [-9.93376682e-01 -1.09226915e-01 3.56685813e-02 -2.45790677e+01] [ 3.48291367e-02 9.58416787e-03 9.99347324e-01 5.88561727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34420609899998 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:25.73, Y:-24.59, Z:58.86 [[-1.72033660e-01 9.85074755e-01 -5.66978641e-03 2.57333831e+01] [-9.84728014e-01 -1.71811160e-01 2.81365071e-02 -2.45877945e+01] [ 2.67424303e-02 1.04236238e-02 9.99588010e-01 5.88616517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37420609899998 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:25.26, Y:-24.97, Z:58.71 [[ 9.76515685e-01 9.70472433e-03 -2.15227635e-01 2.52628580e+01] [ 7.32882031e-02 -9.54372735e-01 2.89484924e-01 -2.49658629e+01] [-2.02598015e-01 -2.98460216e-01 -9.32671187e-01 5.87068159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40420609899998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:25.28, Y:-25.02, Z:58.55 [[ 0.96940002 0.10436295 -0.22219807 25.28323189] [ 0.17499409 -0.92856562 0.32732699 -25.01873553] [ -0.17216468 -0.35619414 -0.91841443 58.54929037] [ 0. 0. 0. 1. ]] SLAMing on 109.43420609899998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:25.71, Y:-24.57, Z:58.62 [[-1.29027658e-01 -9.84415288e-01 1.19492278e-01 2.57065978e+01] [-7.78761034e-01 1.75189588e-01 6.02361901e-01 -2.45660931e+01] [-6.13908067e-01 -1.53345847e-02 -7.89228570e-01 5.86181506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46420609899998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:26.05, Y:-24.99, Z:58.34 [[ -0.85396193 0.41779322 0.31015776 26.04804507] [ 0.48611101 0.85318073 0.18915266 -24.98911277] [ -0.18559393 0.31230027 -0.93167775 58.34291246] [ 0. 0. 0. 1. ]] SLAMing on 109.49420609899998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:26.09, Y:-24.87, Z:58.24 [[ -0.88539209 0.36037406 0.29361776 26.08651179] [ 0.41414998 0.89838932 0.14620678 -24.86898902] [ -0.21109393 0.25105212 -0.9446757 58.24494211] [ 0. 0. 0. 1. ]] SLAMing on 109.52420609899998 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:26.11, Y:-24.76, Z:58.14 [[ -0.90343355 0.32681416 0.27748934 26.11274936] [ 0.36413741 0.92656138 0.09427596 -24.76238148] [ -0.22630019 0.18621632 -0.95609189 58.13540228] [ 0. 0. 0. 1. ]] SLAMing on 109.55420609899998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:25.75, Y:-24.24, Z:58.17 [[-5.43472018e-02 -9.97790080e-01 3.82274535e-02 2.57536192e+01] [-8.97185474e-01 6.56005175e-02 4.36754847e-01 -2.42389672e+01] [-4.38297395e-01 -1.05607122e-02 -8.98767971e-01 5.81654932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.79, Y:-24.23, Z:58.09 [[-1.68411559e-01 -9.82217167e-01 8.29878466e-02 2.57927617e+01] [-8.81356119e-01 1.87748288e-01 4.33545813e-01 -2.42326265e+01] [-4.41416966e-01 -1.27720197e-04 -8.97302093e-01 5.80902234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61420609899999 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] Translation: X:25.33, Y:-24.52, Z:57.89 [[ 0.92388499 -0.33336623 -0.18789218 25.33420558] [ -0.26354195 -0.9102972 0.31922506 -24.52085293] [ -0.27745659 -0.24540977 -0.92886591 57.89062262] [ 0. 0. 0. 1. ]] SLAMing on 109.64420609899999 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] Translation: X:25.50, Y:-24.94, Z:57.66 [[ 6.56268737e-01 7.37051249e-01 -1.61452163e-01 2.55012661e+01] [ 7.53589322e-01 -6.50937459e-01 9.15617706e-02 -2.49434634e+01] [-3.76095435e-02 -1.81757754e-01 -9.82623855e-01 5.76576076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67420609899997 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:25.78, Y:-24.26, Z:57.81 [[-4.87829213e-02 -9.98450874e-01 2.67596671e-02 2.57790895e+01] [-8.50098204e-01 5.55699705e-02 5.23684086e-01 -2.42600726e+01] [-5.24359867e-01 2.79849459e-03 -8.51492160e-01 5.78124349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70420609899998 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:25.78, Y:-24.25, Z:57.76 [[-6.28608180e-02 -9.97411565e-01 3.49097046e-02 2.57828187e+01] [-8.49157267e-01 7.18305431e-02 5.23232557e-01 -2.42454520e+01] [-5.24385787e-01 3.24699720e-03 -8.51474605e-01 5.77633174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.73420609899998 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:25.78, Y:-24.23, Z:57.71 [[-6.91840624e-02 -9.96604336e-01 4.46470883e-02 2.57826948e+01] [-8.50706992e-01 8.23136413e-02 5.19155158e-01 -2.42274349e+01] [-5.21067346e-01 -2.06432731e-03 -8.53513069e-01 5.77062483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76420609899998 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:25.79, Y:-24.21, Z:57.65 [[-8.87646460e-02 -9.94481927e-01 5.59154220e-02 2.57883843e+01] [-8.48851938e-01 1.04897694e-01 5.18118578e-01 -2.42112617e+01] [-5.21124961e-01 -1.47330218e-03 -8.53479118e-01 5.76513623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79420609899998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:25.79, Y:-24.20, Z:57.61 [[-9.30175272e-02 -9.93791617e-01 6.10406628e-02 2.57886807e+01] [-8.46868116e-01 1.11207914e-01 5.20045377e-01 -2.41997650e+01] [-5.23604941e-01 -3.32005613e-03 -8.51954719e-01 5.76050191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82420609899998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:25.78, Y:-24.18, Z:57.54 [[-8.90213830e-02 -9.93720765e-01 6.77807854e-02 2.57832379e+01] [-8.49513123e-01 1.11278005e-01 5.15698226e-01 -2.41790413e+01] [-5.20002546e-01 -1.16724973e-02 -8.54084952e-01 5.75448251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.16, Y:-24.58, Z:57.31 [[ -0.91239689 0.31109467 0.26599251 26.15619374] [ 0.35597288 0.92387092 0.14051988 -24.58439415] [ -0.20202776 0.22289602 -0.95367822 57.31179706] [ 0. 0. 0. 1. ]] SLAMing on 109.88420609899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:25.80, Y:-24.06, Z:57.37 [[-6.85254879e-02 -9.96421734e-01 4.94771294e-02 2.57953724e+01] [-8.87207000e-01 8.35452076e-02 4.53744352e-01 -2.40610305e+01] [-4.56254311e-01 -1.28034024e-02 -8.89757313e-01 5.73676895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91420609899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:25.82, Y:-24.05, Z:57.31 [[-1.31021937e-01 -9.88901163e-01 7.00552769e-02 2.58189574e+01] [-8.80253570e-01 1.48551738e-01 4.50650678e-01 -2.40494977e+01] [-4.56055813e-01 -2.62128260e-03 -8.89947315e-01 5.73145246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94420609899998 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:25.83, Y:-24.04, Z:57.26 [[-1.53279154e-01 -9.84806115e-01 8.16236275e-02 2.58261236e+01] [-8.75244856e-01 1.73642956e-01 4.51436114e-01 -2.40382240e+01] [-4.58750414e-01 -2.24491424e-03 -8.88562332e-01 5.72589439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97420609899999 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:25.83, Y:-24.02, Z:57.20 [[-1.66973592e-01 -9.81611636e-01 9.25117038e-02 2.58297742e+01] [-8.74936868e-01 1.90773918e-01 4.45073914e-01 -2.40241233e+01] [-4.54538553e-01 -6.62631034e-03 -8.90702417e-01 5.72048662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00420609899999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:25.84, Y:-24.01, Z:57.16 [[-1.86450068e-01 -9.77095898e-01 1.02566948e-01 2.58383362e+01] [-8.71571671e-01 2.12683195e-01 4.41733721e-01 -2.40145073e+01] [-4.53430473e-01 -7.03316403e-03 -8.91263901e-01 5.71571763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03420609899997 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:25.85, Y:-24.01, Z:57.11 [[-2.09769851e-01 -9.71309263e-01 1.12048766e-01 2.58478152e+01] [-8.64935584e-01 2.37782816e-01 4.41979375e-01 -2.40057336e+01] [-4.55941932e-01 -4.20101703e-03 -8.89999610e-01 5.71073098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06420609899997 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:25.85, Y:-23.99, Z:57.05 [[-2.28159415e-01 -9.66014414e-01 1.21488409e-01 2.58546320e+01] [-8.61956997e-01 2.58435849e-01 4.36166306e-01 -2.39923129e+01] [-4.52739899e-01 -5.20233529e-03 -8.91627456e-01 5.70538085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.09420609899998 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:25.86, Y:-23.98, Z:57.00 [[-2.46891696e-01 -9.60003812e-01 1.32049883e-01 2.58625509e+01] [-8.57354828e-01 2.79909948e-01 4.31964256e-01 -2.39818159e+01] [-4.51649409e-01 -6.56521642e-03 -8.92171345e-01 5.70011014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12420609899998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:26.15, Y:-24.49, Z:56.77 [[-8.15225155e-01 5.29402412e-01 2.34821279e-01 2.61532546e+01] [ 5.49493844e-01 8.35127171e-01 2.48821804e-02 -2.44884995e+01] [-1.82932944e-01 1.49317427e-01 -9.71720044e-01 5.67683328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.19, Y:-24.39, Z:56.66 [[-8.49410411e-01 4.80653298e-01 2.17886118e-01 2.61883398e+01] [ 4.87299560e-01 8.72853499e-01 -2.58051950e-02 -2.43919375e+01] [-2.02586013e-01 8.42566083e-02 -9.75632990e-01 5.66561357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18420609899998 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:25.73, Y:-23.82, Z:56.64 [[ 2.15065307e-01 -9.75861645e-01 -3.79600315e-02 2.57300110e+01] [-9.17794180e-01 -2.15246774e-01 3.33650520e-01 -2.38156483e+01] [-3.33767520e-01 -3.69171555e-02 -9.41932252e-01 5.66396813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21420609899998 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:25.44, Y:-24.29, Z:56.46 [[ 0.9684041 0.07375067 -0.2382317 25.43636266] [ 0.11103807 -0.98287028 0.14709369 -24.28588723] [ -0.2233026 -0.16889892 -0.96000474 56.4609134 ] [ 0. 0. 0. 1. ]] SLAMing on 110.24420609899998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:25.84, Y:-24.62, Z:56.28 [[ 0.12961857 0.9863909 -0.10115342 25.84406953] [ 0.98799944 -0.13712099 -0.07109812 -24.62222877] [ -0.08400079 -0.09072388 -0.99232709 56.27747448] [ 0. 0. 0. 1. ]] SLAMing on 110.27420609899998 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:26.02, Y:-24.60, Z:56.27 [[-3.30632626e-01 9.42898991e-01 -4.02934281e-02 2.60248096e+01] [ 9.40989154e-01 3.26092515e-01 -9.05708797e-02 -2.46017093e+01] [-7.22598057e-02 -6.78613666e-02 -9.95074548e-01 5.62731930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30420609899998 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:26.15, Y:-24.53, Z:56.27 [[-6.42114297e-01 7.66540193e-01 -1.02645594e-02 2.61454092e+01] [ 7.64316183e-01 6.39101731e-01 -8.58472473e-02 -2.45298685e+01] [-5.92452678e-02 -6.29691137e-02 -9.96255434e-01 5.62659304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33420609899999 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:26.23, Y:-24.43, Z:56.26 [[-8.58801683e-01 5.12212201e-01 9.91614469e-03 2.62273902e+01] [ 5.10000428e-01 8.56608075e-01 -7.82442859e-02 -2.44301973e+01] [-4.85719275e-02 -6.21390864e-02 -9.96884899e-01 5.62595176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36420609899999 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:26.10, Y:-23.88, Z:56.34 [[-5.38768295e-01 -8.40741551e-01 -5.36876944e-02 2.60990785e+01] [-8.22855434e-01 5.11498898e-01 2.47543557e-01 -2.38848095e+01] [-1.80658958e-01 1.77545831e-01 -9.67388143e-01 5.63387983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39420609899997 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:26.29, Y:-24.31, Z:56.29 [[-9.80447956e-01 1.91682319e-01 4.44937456e-02 2.62917647e+01] [ 1.87199227e-01 9.78252031e-01 -8.93275606e-02 -2.43112302e+01] [-6.06486109e-02 -7.92518294e-02 -9.95007987e-01 5.62882762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.28, Y:-24.16, Z:56.31 [[ -0.85693336 0.25112387 0.45011334 26.27973956] [ -0.18501476 -0.96494957 0.18612323 -24.15652959] [ 0.48107666 0.0762176 0.8733591 56.30829961] [ 0. 0. 0. 1. ]] SLAMing on 110.45420609899998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:25.61, Y:-24.47, Z:56.54 [[ 7.72349190e-01 -6.34943287e-01 1.79930819e-02 2.56092677e+01] [ 6.35149916e-01 7.71631409e-01 -3.41987143e-02 -2.44691622e+01] [ 7.83021692e-03 3.78416538e-02 9.99253070e-01 5.65361949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48420609899998 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:25.58, Y:-24.42, Z:56.56 [[ 8.53335242e-01 -5.21362513e-01 -3.07940656e-04 2.55821765e+01] [ 5.21362604e-01 8.53335063e-01 5.52752729e-04 -2.44185817e+01] [-2.54079928e-05 -6.32232126e-04 9.99999800e-01 5.65645394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51420609899998 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:25.58, Y:-24.41, Z:56.60 [[ 8.65470233e-01 -5.00908852e-01 -7.18316883e-03 2.55836359e+01] [ 5.00936319e-01 8.65480194e-01 2.61482150e-03 -2.44064354e+01] [ 4.90710312e-03 -5.86136032e-03 9.99970782e-01 5.65984646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54420609899998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:25.60, Y:-24.42, Z:56.63 [[ 8.37045287e-01 -5.47132468e-01 -1.11806121e-03 2.56049957e+01] [ 5.47077120e-01 8.36986481e-01 -1.26591860e-02 -2.44187197e+01] [ 7.86205378e-03 9.98464625e-03 9.99919244e-01 5.66286762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57420609899998 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:25.61, Y:-24.41, Z:56.66 [[ 8.45660082e-01 -5.33704323e-01 -4.32690680e-03 2.56101221e+01] [ 5.33649680e-01 8.45651253e-01 -9.59050195e-03 -2.44078011e+01] [ 8.77754650e-03 5.80125223e-03 9.99944649e-01 5.66583629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60420609899998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:25.61, Y:-24.39, Z:56.69 [[ 8.66516167e-01 -4.99063394e-01 -9.24450377e-03 2.56074161e+01] [ 4.99097626e-01 8.66544094e-01 1.70102963e-03 -2.43898209e+01] [ 7.16184852e-03 -6.08787956e-03 9.99955822e-01 5.66890447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63420609899998 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:25.62, Y:-24.40, Z:56.72 [[ 8.47201559e-01 -5.31195317e-01 -9.00291909e-03 2.56239076e+01] [ 5.31104153e-01 8.47238351e-01 -1.07496163e-02 -2.43968216e+01] [ 1.33377642e-02 4.32560400e-03 9.99901692e-01 5.67187457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66420609899998 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:25.62, Y:-24.37, Z:56.75 [[ 8.75689694e-01 -4.82499223e-01 -1.90278685e-02 2.56195312e+01] [ 4.82599321e-01 8.75840910e-01 7.72195133e-04 -2.43731611e+01] [ 1.62928021e-02 -9.85903973e-03 9.99818656e-01 5.67500757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.69420609899998 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:26.34, Y:-24.06, Z:56.59 [[ -0.76004602 0.52928242 0.37708111 26.33977625] [ -0.43527224 -0.84546836 0.30938863 -24.06046558] [ 0.48256411 0.07101666 0.87297681 56.59163213] [ 0. 0. 0. 1. ]] SLAMing on 110.72420609899999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:25.75, Y:-24.53, Z:56.82 [[ 6.59288537e-01 -7.51888904e-01 1.30409796e-03 2.57483744e+01] [ 7.51888752e-01 6.59289625e-01 7.03782545e-04 -2.45294044e+01] [-1.38894454e-03 5.16540822e-04 9.99998902e-01 5.68196585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75420609899999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:25.75, Y:-24.52, Z:56.85 [[ 6.60626110e-01 -7.50711916e-01 -2.18228499e-03 2.57535794e+01] [ 7.50703355e-01 6.60629246e-01 -3.67044257e-03 -2.45213359e+01] [ 4.19712626e-03 7.86541533e-04 9.99990883e-01 5.68513490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78420609899997 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:26.35, Y:-24.03, Z:56.69 [[ -0.65782191 0.69283571 0.29537945 26.35385454] [ -0.57093066 -0.71448918 0.40440499 -24.02931295] [ 0.49123163 0.09738528 0.86556778 56.6874591 ] [ 0. 0. 0. 1. ]] SLAMing on 110.81420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.92, Y:-24.63, Z:56.93 [[ 3.62146305e-01 -9.31795266e-01 2.46502661e-02 2.59233672e+01] [ 9.31987248e-01 3.62416027e-01 7.37518666e-03 -2.46284006e+01] [-1.58058155e-02 2.03028371e-02 9.99668931e-01 5.69274963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84420609899998 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:25.90, Y:-24.61, Z:56.96 [[ 4.28982923e-01 -9.03289342e-01 6.48193074e-03 2.59005177e+01] [ 9.03197851e-01 4.29031759e-01 1.28604871e-02 -2.46070016e+01] [-1.43976951e-02 3.37536557e-04 9.99896291e-01 5.69591408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.87420609899998 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:25.90, Y:-24.60, Z:56.99 [[ 4.31128742e-01 -9.02260009e-01 7.40834552e-03 2.59033360e+01] [ 9.02155186e-01 4.31191744e-01 1.37731720e-02 -2.45986213e+01] [-1.56213998e-02 7.45466985e-04 9.99877701e-01 5.69907237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90420609899998 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:25.91, Y:-24.59, Z:57.02 [[ 4.11633597e-01 -9.11253058e-01 1.32531108e-02 2.59149212e+01] [ 9.11166284e-01 4.11798885e-01 1.40599342e-02 -2.45926531e+01] [-1.82697743e-02 6.28824645e-03 9.99813319e-01 5.70201387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93420609899998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:25.90, Y:-24.57, Z:57.06 [[ 4.55380102e-01 -8.90289649e-01 3.64746571e-03 2.58999498e+01] [ 8.90134353e-01 4.55371363e-01 1.72556064e-02 -2.45743053e+01] [-1.70234392e-02 -4.61112528e-03 9.99844458e-01 5.70570158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96420609899998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:25.91, Y:-24.57, Z:57.09 [[ 4.42177564e-01 -8.96899069e-01 7.14569637e-03 2.59092031e+01] [ 8.96819799e-01 4.42233898e-01 1.19761054e-02 -2.45686587e+01] [-1.39014270e-02 1.11283687e-03 9.99902751e-01 5.70885962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99420609899998 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:25.91, Y:-24.56, Z:57.12 [[ 4.38420880e-01 -8.98712453e-01 1.01517640e-02 2.59144565e+01] [ 8.98615760e-01 4.38526887e-01 1.35604418e-02 -2.45610917e+01] [-1.66387594e-02 3.17735435e-03 9.99856518e-01 5.71184018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02420609899998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:25.91, Y:-24.55, Z:57.15 [[ 4.60709222e-01 -8.87538672e-01 4.70301495e-03 2.59100275e+01] [ 8.87435801e-01 4.60728309e-01 1.36793148e-02 -2.45467725e+01] [-1.43077331e-02 -2.12856265e-03 9.99895374e-01 5.71515633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05420609899998 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:25.92, Y:-24.54, Z:57.18 [[ 4.41548936e-01 -8.97227316e-01 4.20482295e-03 2.59206887e+01] [ 8.97202631e-01 4.41568210e-01 6.70481266e-03 -2.45436858e+01] [-7.87245721e-03 8.12075321e-04 9.99968682e-01 5.71841293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08420609899999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:25.92, Y:-24.53, Z:57.22 [[ 4.47200555e-01 -8.94425083e-01 3.92872759e-03 2.59217217e+01] [ 8.94404170e-01 4.47217170e-01 6.16307880e-03 -2.45343015e+01] [-7.26940670e-03 7.57738081e-04 9.99973290e-01 5.72154388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11420609899999 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:25.93, Y:-24.53, Z:57.25 [[ 4.34149587e-01 -9.00796481e-01 8.93507628e-03 2.59304385e+01] [ 9.00787506e-01 4.34210433e-01 6.57038055e-03 -2.45272000e+01] [-9.79827902e-03 5.19607707e-03 9.99938495e-01 5.72453913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14420609899997 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:25.92, Y:-24.51, Z:57.29 [[ 4.69915720e-01 -8.82707824e-01 2.47259048e-03 2.59190310e+01] [ 8.82693147e-01 4.69922178e-01 5.09469737e-03 -2.45064168e+01] [-5.65905433e-03 -2.11539711e-04 9.99983965e-01 5.72949256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17420609899997 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:25.92, Y:-24.50, Z:57.33 [[ 4.69301684e-01 -8.83031639e-01 3.32479909e-03 2.59229800e+01] [ 8.83019802e-01 4.69312845e-01 4.63490163e-03 -2.44986819e+01] [-5.65313570e-03 7.60696294e-04 9.99983732e-01 5.73262706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20420609899998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:25.93, Y:-24.49, Z:57.36 [[ 4.60630550e-01 -8.87582752e-01 4.04420666e-03 2.59325091e+01] [ 8.87589094e-01 4.60635868e-01 4.44720197e-04 -2.44900534e+01] [-2.25763262e-03 3.38474202e-03 9.99991723e-01 5.73559782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.23420609899998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:25.93, Y:-24.48, Z:57.39 [[ 4.82030116e-01 -8.76154622e-01 2.13242530e-04 2.59253904e+01] [ 8.76145592e-01 4.82026226e-01 4.42926168e-03 -2.44786538e+01] [-3.98350659e-03 -1.94820602e-03 9.99990168e-01 5.73901788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26420609899998 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:25.93, Y:-24.47, Z:57.42 [[ 4.80805230e-01 -8.76823457e-01 2.63730032e-03 2.59303074e+01] [ 8.76813652e-01 4.80812361e-01 4.15843978e-03 -2.44714971e+01] [-4.91426414e-03 3.13021331e-04 9.99987876e-01 5.74215733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29420609899998 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:25.94, Y:-24.47, Z:57.45 [[ 4.65698459e-01 -8.84913810e-01 7.24530632e-03 2.59415301e+01] [ 8.84922176e-01 4.65728442e-01 3.12432839e-03 -2.44650088e+01] [-6.13910656e-03 4.95653732e-03 9.99968872e-01 5.74503555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32420609899998 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:25.94, Y:-24.45, Z:57.48 [[ 4.81362040e-01 -8.76516400e-01 3.09622556e-03 2.59392891e+01] [ 8.76509688e-01 4.81370970e-01 3.57155634e-03 -2.44529019e+01] [-4.62096081e-03 9.94660054e-04 9.99988829e-01 5.74808503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.94, Y:-24.44, Z:57.51 [[ 4.89492972e-01 -8.72006824e-01 8.53472152e-04 2.59407160e+01] [ 8.72000200e-01 4.89492718e-01 3.53970193e-03 -2.44430740e+01] [-3.50441264e-03 -9.88431333e-04 9.99993371e-01 5.75117669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.95, Y:-24.43, Z:57.54 [[ 4.88442899e-01 -8.72594940e-01 1.26687596e-03 2.59451686e+01] [ 8.72593758e-01 4.88444394e-01 1.48546161e-03 -2.44349084e+01] [-1.91500475e-03 3.79904883e-04 9.99998094e-01 5.75422991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41420609899998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:25.94, Y:-24.42, Z:57.58 [[ 5.04104203e-01 -8.63635386e-01 -3.58794281e-03 2.59423073e+01] [ 8.63639634e-01 5.04109299e-01 -6.29657462e-04 -2.44239659e+01] [ 2.35250980e-03 -2.78127665e-03 9.99993365e-01 5.75755070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44420609899998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:25.95, Y:-24.42, Z:57.61 [[ 4.95217121e-01 -8.68768787e-01 -8.93448879e-04 2.59500866e+01] [ 8.68766095e-01 4.95217832e-01 -2.18439843e-03 -2.44185381e+01] [ 2.34018899e-03 3.05553409e-04 9.99997215e-01 5.76079019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47420609899999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:25.95, Y:-24.41, Z:57.64 [[ 4.96114510e-01 -8.68257065e-01 -2.48568628e-04 2.59526776e+01] [ 8.68256025e-01 4.96114325e-01 -1.43217382e-03 -2.44109982e+01] [ 1.36681350e-03 4.94701004e-04 9.99998944e-01 5.76398690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50420609899999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:25.97, Y:-24.40, Z:57.67 [[ 4.78252458e-01 -8.78219170e-01 2.38221521e-03 2.59659332e+01] [ 8.78208980e-01 4.78228394e-01 -6.82574076e-03 -2.44047613e+01] [ 4.85525343e-03 5.35651009e-03 9.99973867e-01 5.76683318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53420609899997 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:25.96, Y:-24.39, Z:57.70 [[ 4.94138301e-01 -8.69379535e-01 2.56197921e-03 2.59630494e+01] [ 8.69383277e-01 4.94136951e-01 -1.17984340e-03 -2.43949900e+01] [-2.40236888e-04 2.81034769e-03 9.99996022e-01 5.77011710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.96, Y:-24.38, Z:57.75 [[ 5.05584279e-01 -8.62773351e-01 2.58490331e-03 2.59628653e+01] [ 8.62776356e-01 5.05577253e-01 -2.93276470e-03 -2.43797440e+01] [ 1.22344291e-03 3.71295319e-03 9.99992359e-01 5.77461295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.59420609899998 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:25.96, Y:-24.36, Z:57.79 [[ 5.24189813e-01 -8.51600868e-01 -1.00058036e-03 2.59584285e+01] [ 8.51581629e-01 5.24185265e-01 -6.20781709e-03 -2.43634480e+01] [ 5.81107191e-03 2.40199862e-03 9.99980231e-01 5.77897990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62420609899998 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:25.96, Y:-24.35, Z:57.82 [[ 5.32285210e-01 -8.46559889e-01 -2.96819937e-03 2.59597789e+01] [ 8.46534479e-01 5.32292507e-01 -6.63801227e-03 -2.43526398e+01] [ 7.19942521e-03 1.02063265e-03 9.99973563e-01 5.78237474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.96, Y:-24.34, Z:57.86 [[ 5.37584685e-01 -8.43188476e-01 -5.99164356e-03 2.59649960e+01] [ 8.43118724e-01 5.37617488e-01 -1.08745085e-02 -2.43410843e+01] [ 1.23904726e-02 7.94302372e-04 9.99922920e-01 5.78560263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68420609899998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:25.97, Y:-24.33, Z:57.89 [[ 5.40063728e-01 -8.41614229e-01 -4.08151683e-03 2.59674054e+01] [ 8.41573620e-01 5.40078097e-01 -8.33621018e-03 -2.43339711e+01] [ 9.22021095e-03 1.06718786e-03 9.99956923e-01 5.78873968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71420609899998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:25.97, Y:-24.32, Z:57.92 [[ 5.41820170e-01 -8.40461157e-01 -7.47979631e-03 2.59719645e+01] [ 8.40326025e-01 5.41868295e-01 -1.51961318e-02 -2.43231335e+01] [ 1.68248230e-02 1.94810323e-03 9.99856555e-01 5.79216431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74420609899998 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:25.97, Y:-24.31, Z:57.97 [[ 5.52724607e-01 -8.33342705e-01 -5.95361796e-03 2.59708805e+01] [ 8.33251553e-01 5.52753283e-01 -1.24762763e-02 -2.43099340e+01] [ 1.36878957e-02 1.93508351e-03 9.99904444e-01 5.79662877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77420609899998 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:25.90, Y:-23.71, Z:57.93 [[ 0.83540289 0.53521845 -0.12507289 25.90432702] [ -0.48613008 0.82567492 0.28624896 -23.70738803] [ 0.25647527 -0.17833152 0.949957 57.92584923] [ 0. 0. 0. 1. ]] SLAMing on 111.80420609899998 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:26.53, Y:-24.19, Z:58.01 [[-7.76251621e-01 -5.18219948e-01 3.59000705e-01 2.65347644e+01] [ 5.71871651e-01 -8.18495293e-01 5.50297183e-02 -2.41895189e+01] [ 2.65322890e-01 2.48019234e-01 9.31713595e-01 5.80139228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83420609899999 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:26.03, Y:-24.30, Z:58.15 [[ 4.61784427e-01 -8.86606774e-01 2.61451856e-02 2.60281236e+01] [ 8.86836370e-01 4.60950203e-01 -3.23444546e-02 -2.42978348e+01] [ 1.66251840e-02 3.81226669e-02 9.99134758e-01 5.81491685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86420609899999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:26.52, Y:-23.71, Z:58.00 [[ -0.58381007 0.77689006 0.23581271 26.52000693] [ -0.65259629 -0.62182445 0.43295778 -23.70980416] [ 0.48299471 0.09887461 0.87002294 58.00074283] [ 0. 0. 0. 1. ]] SLAMing on 111.89420609899997 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:26.17, Y:-24.35, Z:58.23 [[ 2.64741908e-01 -9.64107906e-01 2.01907943e-02 2.61650651e+01] [ 9.64299613e-01 2.64812274e-01 8.46291468e-04 -2.43512516e+01] [-6.16268645e-03 1.92459263e-02 9.99795787e-01 5.82343240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92420609899997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:26.15, Y:-24.34, Z:58.26 [[ 3.09444804e-01 -9.50855689e-01 1.08338425e-02 2.61503775e+01] [ 9.50865674e-01 3.09526725e-01 6.90478925e-03 -2.43362499e+01] [-9.91882192e-03 8.16487777e-03 9.99917472e-01 5.82648787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.95420609899998 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:26.15, Y:-24.32, Z:58.30 [[ 3.24786161e-01 -9.45772749e-01 5.27791654e-03 2.61469431e+01] [ 9.45783403e-01 3.24796083e-01 1.12241516e-03 -2.43213514e+01] [-2.77579629e-03 4.62722095e-03 9.99985442e-01 5.82979348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.14, Y:-24.31, Z:58.33 [[ 3.45106064e-01 -9.38563691e-01 4.42399516e-05 2.61413837e+01] [ 9.38563265e-01 3.45105861e-01 -9.70555621e-04 -2.43071556e+01] [ 8.95660800e-04 3.76466623e-04 9.99999528e-01 5.83310785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01420609899998 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:26.15, Y:-24.30, Z:58.36 [[ 3.35513551e-01 -9.42030987e-01 2.87679240e-03 2.61473683e+01] [ 9.42029702e-01 3.35499361e-01 -4.49671304e-03 -2.43011313e+01] [ 3.27088102e-03 4.21873204e-03 9.99985752e-01 5.83625622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04420609899998 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:26.14, Y:-24.29, Z:58.40 [[ 3.69181709e-01 -9.29346923e-01 -4.37743992e-03 2.61363782e+01] [ 9.29355171e-01 3.69186715e-01 -3.67181634e-04 -2.42878889e+01] [ 1.95733178e-03 -3.93263968e-03 9.99990352e-01 5.83973777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07420609899998 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:26.10, Y:-24.25, Z:58.47 [[ 4.04789336e-01 -9.14068016e-01 2.50051006e-02 2.60984292e+01] [ 9.14407032e-01 4.04567344e-01 -1.36030624e-02 -2.42490933e+01] [ 2.31787709e-03 2.83712144e-02 9.99594769e-01 5.84709516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10420609899998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:25.94, Y:-23.65, Z:58.43 [[ 0.88869993 0.4384892 -0.13393897 25.93858551] [ -0.39499592 0.88055504 0.26191801 -23.64536107] [ 0.23278885 -0.17986117 0.95575065 58.43448136] [ 0. 0. 0. 1. ]] SLAMing on 112.13420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.63, Y:-24.06, Z:58.52 [[ -0.82716897 -0.44437586 0.34397904 26.62589944] [ 0.50281192 -0.85860195 0.09991433 -24.06412087] [ 0.25094156 0.2556028 0.93364637 58.51683563] [ 0. 0. 0. 1. ]] SLAMing on 112.16420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.09, Y:-24.21, Z:58.65 [[ 4.65282068e-01 -8.85036836e-01 1.49129785e-02 2.60899667e+01] [ 8.85156635e-01 4.65274134e-01 -4.20859381e-03 -2.42060615e+01] [-3.21386259e-03 1.51585051e-02 9.99879938e-01 5.86534479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.52, Y:-23.53, Z:58.52 [[-3.97129123e-01 9.03513480e-01 1.61095781e-01 2.65215054e+01] [-7.80632134e-01 -4.24847902e-01 4.58386008e-01 -2.35318853e+01] [ 4.82599142e-01 5.62818898e-02 8.74031130e-01 5.85167302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:26.26, Y:-24.24, Z:58.75 [[ 2.08630509e-01 -9.77965645e-01 7.51711896e-03 2.62625061e+01] [ 9.77985797e-01 2.08654974e-01 2.62352123e-03 -2.42446786e+01] [-4.13419790e-03 6.80428900e-03 9.99968305e-01 5.87503115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25420609899999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:26.25, Y:-24.24, Z:58.78 [[ 2.45890248e-01 -9.69293725e-01 2.76774725e-03 2.62459831e+01] [ 9.69259387e-01 2.45904912e-01 8.18627555e-03 -2.42371452e+01] [-8.61550817e-03 6.69739673e-04 9.99962662e-01 5.87833801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.26, Y:-24.23, Z:58.81 [[ 2.18929020e-01 -9.75740068e-01 1.18472790e-03 2.62624933e+01] [ 9.75736770e-01 2.18931442e-01 2.60385596e-03 -2.42270138e+01] [-2.80006078e-03 5.85922940e-04 9.99995908e-01 5.88143391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.31420609899997 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:26.27, Y:-24.22, Z:58.84 [[ 1.91159663e-01 -9.81409993e-01 1.70999941e-02 2.62710838e+01] [ 9.81555795e-01 1.91085828e-01 -5.86748352e-03 -2.42205054e+01] [ 2.49084043e-03 1.79062245e-02 9.99836568e-01 5.88446076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34420609899998 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:25.97, Y:-23.71, Z:58.82 [[ 0.97125394 0.13379008 -0.19689084 25.9679178 ] [ -0.09144847 0.97335159 0.21029469 -23.7067456 ] [ 0.21977935 -0.18624418 0.95760646 58.82048575] [ 0. 0. 0. 1. ]] SLAMing on 112.37420609899998 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:26.51, Y:-23.38, Z:58.82 [[-1.83421908e-01 9.82601360e-01 2.91714112e-02 2.65082905e+01] [-8.83391577e-01 -1.77775354e-01 4.33607248e-01 -2.33835574e+01] [ 4.31249029e-01 5.37632899e-02 9.00629660e-01 5.88176347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40420609899998 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:26.81, Y:-23.86, Z:58.92 [[ -0.93632142 -0.232005 0.26358279 26.81199389] [ 0.28190056 -0.94420845 0.17030115 -23.86309607] [ 0.20936638 0.23376075 0.94948493 58.91731427] [ 0. 0. 0. 1. ]] SLAMing on 112.43420609899998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:26.44, Y:-24.14, Z:59.03 [[-4.82271991e-02 -9.98139280e-01 3.73110527e-02 2.64374878e+01] [ 9.98592790e-01 -4.90067305e-02 -2.02677044e-02 -2.41439155e+01] [ 2.20584846e-02 3.62810936e-02 9.99098146e-01 5.90302772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46420609899998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:26.03, Y:-23.67, Z:59.02 [[ 9.71076502e-01 5.03177288e-03 -2.38715539e-01 2.60255735e+01] [ 3.44796744e-02 9.86343559e-01 1.61051344e-01 -2.36669446e+01] [ 2.36265908e-01 -1.64624010e-01 9.57641559e-01 5.90182449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49420609899998 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:26.51, Y:-23.27, Z:59.03 [[-5.94042374e-02 9.97519718e-01 -3.77564454e-02 2.65120113e+01] [-9.08603863e-01 -3.83674415e-02 4.15892967e-01 -2.32706530e+01] [ 4.13412817e-01 5.90114566e-02 9.08629457e-01 5.90321331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52420609899998 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:26.88, Y:-23.71, Z:59.12 [[ -0.96778703 -0.0935708 0.23373654 26.8817362 ] [ 0.14193415 -0.9695557 0.1995406 -23.70529324] [ 0.20794942 0.226288 0.95160432 59.12119197] [ 0. 0. 0. 1. ]] SLAMing on 112.55420609899998 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:26.56, Y:-24.04, Z:59.20 [[-1.95133061e-01 -9.80467637e-01 2.46231635e-02 2.65560191e+01] [ 9.79623928e-01 -1.96059180e-01 -4.35632584e-02 -2.40432535e+01] [ 4.75399623e-02 1.56208082e-02 9.98747186e-01 5.92016277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58420609899999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:26.09, Y:-23.70, Z:59.13 [[ 0.94604897 -0.13235791 -0.29575787 26.08818574] [ 0.17385061 0.97760394 0.11860233 -23.70234407] [ 0.27343611 -0.1636213 0.9478717 59.13255769] [ 0. 0. 0. 1. ]] SLAMing on 112.61420609899999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.43, Y:-23.26, Z:59.07 [[ 0.11930535 0.98446739 -0.12880294 26.43285221] [ -0.89798827 0.16233411 0.40898008 -23.26488191] [ 0.42353666 0.06687002 0.90340749 59.06629134] [ 0. 0. 0. 1. ]] SLAMing on 112.64420609899997 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:26.88, Y:-23.59, Z:59.15 [[ -0.96742718 0.17584592 0.18210674 26.87745446] [ -0.12444502 -0.95679285 0.26279439 -23.58702873] [ 0.22044974 0.23157216 0.94751055 59.153793 ] [ 0. 0. 0. 1. ]] SLAMing on 112.67420609899997 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:26.65, Y:-24.01, Z:59.24 [[-4.32679384e-01 -9.01246518e-01 2.33080282e-02 2.66480716e+01] [ 9.01191928e-01 -4.33090400e-01 -1.69060347e-02 -2.40061107e+01] [ 2.53309881e-02 1.36901142e-02 9.99585375e-01 5.92432554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70420609899998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:26.36, Y:-23.28, Z:59.06 [[ 0.27299316 0.93064336 -0.24367532 26.35870366] [ -0.82143053 0.3573373 0.44447941 -23.2843664 ] [ 0.50072609 0.07882251 0.86200951 59.06301933] [ 0. 0. 0. 1. ]] SLAMing on 112.73420609899998 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:26.84, Y:-23.47, Z:59.19 [[-8.99105899e-01 4.33816458e-01 5.84111542e-02 2.68392189e+01] [-3.82001945e-01 -8.42776746e-01 3.79212171e-01 -2.34658046e+01] [ 2.13736043e-01 3.18638726e-01 9.23464275e-01 5.91892934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76420609899998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:26.25, Y:-23.35, Z:59.02 [[ 6.10108246e-01 -7.87831111e-01 8.42025418e-02 2.62521858e+01] [-7.90146269e-01 -6.12853545e-01 -8.91107317e-03 -2.33528642e+01] [ 5.86242469e-02 -6.10956050e-02 -9.96408814e-01 5.90167057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79420609899998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:26.79, Y:-23.92, Z:59.23 [[-6.10277959e-01 6.74655795e-01 4.15211237e-01 2.67869750e+01] [ 5.59633426e-01 7.38128531e-01 -3.76797956e-01 -2.39171278e+01] [-5.60688185e-01 2.41459909e-03 -8.28023508e-01 5.92347474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82420609899998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:26.83, Y:-23.42, Z:59.00 [[ -0.72703235 -0.48962674 0.48134148 26.83194667] [ -0.60758022 0.78531159 -0.11887801 -23.41580086] [ -0.31979719 -0.37888173 -0.86843445 58.99995479] [ 0. 0. 0. 1. ]] SLAMing on 112.85420609899998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:26.37, Y:-23.34, Z:58.71 [[ 3.33529005e-01 -9.06094871e-01 2.60289240e-01 2.63732544e+01] [-9.38203546e-01 -3.46074713e-01 -2.52959931e-03 -2.33379982e+01] [ 9.23715809e-02 -2.43360593e-01 -9.65527376e-01 5.87061367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88420609899998 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:26.15, Y:-23.86, Z:58.63 [[ 9.93109999e-01 8.95624919e-02 7.55717491e-02 2.61510490e+01] [ 1.03972177e-01 -9.70916475e-01 -2.15664058e-01 -2.38557192e+01] [ 5.40584458e-02 2.22035492e-01 -9.73538867e-01 5.86296387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.91, Y:-23.97, Z:58.80 [[-6.88204737e-01 5.14511110e-01 5.11519851e-01 2.69058178e+01] [ 4.00149032e-01 8.57289457e-01 -3.23937556e-01 -2.39657670e+01] [-6.05190046e-01 -1.82511877e-02 -7.95871787e-01 5.88021555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94420609899998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:26.84, Y:-23.46, Z:58.53 [[-5.37076615e-01 -6.64466836e-01 5.19646547e-01 2.68388958e+01] [-7.94470254e-01 6.05490658e-01 -4.68836619e-02 -2.34621453e+01] [-2.83488492e-01 -4.38023843e-01 -8.53094009e-01 5.85325463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97420609899999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:26.40, Y:-23.51, Z:58.23 [[ 5.21516490e-01 -8.02587653e-01 2.89609409e-01 2.63989524e+01] [-8.39814009e-01 -5.42815115e-01 8.01129126e-03 -2.35129388e+01] [ 1.50774601e-01 -2.47396059e-01 -9.57111388e-01 5.82309234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00420609899999 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:26.29, Y:-24.06, Z:58.17 [[ 0.95098294 0.26760792 0.15497566 26.29210451] [ 0.2986362 -0.92484668 -0.2355314 -24.06201723] [ 0.08029866 0.27026769 -0.95943082 58.17276553] [ 0. 0. 0. 1. ]] SLAMing on 113.03420609899997 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:27.02, Y:-24.05, Z:58.40 [[-7.06254257e-01 3.83779331e-01 5.94910371e-01 2.70245638e+01] [ 2.94094217e-01 9.23424471e-01 -2.46568122e-01 -2.40506434e+01] [-6.43982543e-01 8.19914087e-04 -7.65039745e-01 5.83964261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06420609899997 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:26.90, Y:-23.57, Z:58.12 [[-4.12387664e-01 -7.12326613e-01 5.67914792e-01 2.69035283e+01] [-8.55411069e-01 5.17214730e-01 2.75830894e-02 -2.35674328e+01] [-3.13382065e-01 -4.74425674e-01 -8.22625043e-01 5.81208414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.09420609899998 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:26.46, Y:-23.70, Z:57.79 [[ 6.89377523e-01 -6.51512847e-01 3.16685397e-01 2.64640409e+01] [-6.95308664e-01 -7.17761112e-01 3.69438536e-02 -2.37048985e+01] [ 2.03235067e-01 -2.45662362e-01 -9.47810905e-01 5.77892093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12420609899998 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:26.52, Y:-24.31, Z:57.78 [[ 7.93283207e-01 5.55553231e-01 2.49123186e-01 2.65152743e+01] [ 6.07564905e-01 -7.48906794e-01 -2.64581744e-01 -2.43071130e+01] [ 3.95808038e-02 3.61246759e-01 -9.31629829e-01 5.77769315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15420609899998 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:27.17, Y:-24.11, Z:58.02 [[-7.15035815e-01 2.28410315e-01 6.60721205e-01 2.71746292e+01] [ 1.70584873e-01 9.73556493e-01 -1.51949190e-01 -2.41106324e+01] [-6.77956182e-01 4.05992964e-03 -7.35091105e-01 5.80167684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18420609899998 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:26.94, Y:-23.64, Z:57.71 [[ -0.14953154 -0.81141638 0.56501661 26.94418724] [ -0.95303831 0.2704849 0.13622005 -23.64297296] [ -0.26335964 -0.51811328 -0.81375692 57.70916141] [ 0. 0. 0. 1. ]] SLAMing on 113.21420609899998 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:26.83, Y:-24.45, Z:57.61 [[ 0.41021161 0.83983317 0.35553718 26.82887873] [ 0.89131235 -0.28664491 -0.35127908 -24.45008945] [ -0.1931029 0.46099343 -0.86613874 57.60679364] [ 0. 0. 0. 1. ]] SLAMing on 113.24420609899998 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:27.32, Y:-24.13, Z:57.76 [[-7.18982812e-01 2.08630561e-01 6.62975870e-01 2.73236428e+01] [ 1.43996465e-01 9.77901178e-01 -1.51572769e-01 -2.41294347e+01] [-6.79947596e-01 -1.35120337e-02 -7.33136202e-01 5.77606744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.34, Y:-24.15, Z:57.72 [[-7.10089267e-01 2.56358453e-01 6.55784703e-01 2.73397551e+01] [ 1.92702448e-01 9.66561684e-01 -1.69187110e-01 -2.41524666e+01] [-6.77228913e-01 6.23336697e-03 -7.35745979e-01 5.77187532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30420609899998 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:27.17, Y:-23.70, Z:57.44 [[ -0.29869505 -0.73945423 0.60331476 27.17407987] [ -0.89096649 0.44260797 0.10137503 -23.69652905] [ -0.34199412 -0.50725302 -0.79103375 57.43626951] [ 0. 0. 0. 1. ]] SLAMing on 113.33420609899999 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:26.75, Y:-23.91, Z:57.08 [[ 0.79770612 -0.50026183 0.33675369 26.74975883] [ -0.54952965 -0.83299784 0.06427885 -23.90546363] [ 0.24835884 -0.23633177 -0.93939618 57.07619393] [ 0. 0. 0. 1. ]] SLAMing on 113.36420609899999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:27.39, Y:-24.18, Z:57.46 [[-6.50339402e-01 1.82796286e-01 7.37322304e-01 2.73870640e+01] [ 1.33296630e-01 9.83016498e-01 -1.26137123e-01 -2.41818418e+01] [-7.47857386e-01 1.62506374e-02 -6.63660490e-01 5.74582019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39420609899997 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:27.19, Y:-23.73, Z:57.13 [[ -0.13352526 -0.74709502 0.65116821 27.19027819] [ -0.94228494 0.29926524 0.1501313 -23.73148106] [ -0.30703435 -0.59353968 -0.74393586 57.13351879] [ 0. 0. 0. 1. ]] SLAMing on 113.42420609899997 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:26.85, Y:-23.99, Z:56.75 [[ 0.80442369 -0.41689506 0.42320331 26.85298335] [ -0.49482918 -0.86441673 0.08903817 -23.9915021 ] [ 0.32870445 -0.28103776 -0.90164914 56.75466504] [ 0. 0. 0. 1. ]] SLAMing on 113.45420609899998 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:27.07, Y:-24.57, Z:56.79 [[ 0.59118064 0.68042372 0.4330462 27.07018906] [ 0.80249227 -0.54995643 -0.23141756 -24.57143836] [ 0.08069455 0.48432581 -0.87115837 56.78989884] [ 0. 0. 0. 1. ]] SLAMing on 113.48420609899998 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:27.63, Y:-24.23, Z:57.08 [[-6.34319309e-01 4.01934211e-02 7.72025585e-01 2.76276664e+01] [ 3.14538045e-02 9.99162405e-01 -2.61752980e-02 -2.42252502e+01] [-7.72431015e-01 7.67964484e-03 -6.35052242e-01 5.70765593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51420609899998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:27.40, Y:-23.81, Z:56.75 [[-3.55737058e-02 -7.49725154e-01 6.60792483e-01 2.74012121e+01] [-9.42492037e-01 2.45048050e-01 2.27288833e-01 -2.38149851e+01] [-3.32330064e-01 -6.14706147e-01 -7.15327255e-01 5.67486841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54420609899998 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:27.09, Y:-24.14, Z:56.35 [[ 0.86898393 -0.24077977 0.43231011 27.08651144] [ -0.31938602 -0.94020677 0.11833764 -24.135792 ] [ 0.37796758 -0.24090732 -0.89392627 56.34811831] [ 0. 0. 0. 1. ]] SLAMing on 113.57420609899998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:27.28, Y:-24.60, Z:56.34 [[ 0.67195738 0.59259634 0.44418786 27.28175849] [ 0.69725974 -0.70836544 -0.10976001 -24.59535633] [ 0.24960395 0.38346836 -0.88918496 56.33567992] [ 0. 0. 0. 1. ]] SLAMing on 113.60420609899998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:27.88, Y:-24.22, Z:56.68 [[-5.93808056e-01 -8.41631923e-02 8.00192820e-01 2.78829140e+01] [-6.64265068e-02 9.96247144e-01 5.54900570e-02 -2.42155569e+01] [-8.01860032e-01 -2.02035709e-02 -5.97170247e-01 5.66821735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63420609899998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:27.66, Y:-23.84, Z:56.37 [[ 1.24789036e-02 -7.28706204e-01 6.84712747e-01 2.76578953e+01] [-9.26888763e-01 2.48465434e-01 2.81322145e-01 -2.38420696e+01] [-3.75128642e-01 -6.38163143e-01 -6.72329016e-01 5.63660306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66420609899998 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:27.39, Y:-24.06, Z:55.96 [[ 0.79044607 -0.36184714 0.49422835 27.39329105] [ -0.51859636 -0.82471817 0.22560532 -24.063984 ] [ 0.32596446 -0.43463386 -0.83954784 55.96314707] [ 0. 0. 0. 1. ]] SLAMing on 113.69420609899998 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:27.58, Y:-24.61, Z:55.91 [[ 0.63418904 0.59313488 0.49597911 27.57729917] [ 0.70929101 -0.70164203 -0.06785813 -24.60533404] [ 0.30775077 0.3948284 -0.86567892 55.91274542] [ 0. 0. 0. 1. ]] SLAMing on 113.72420609899999 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:28.11, Y:-24.24, Z:56.34 [[-5.35833686e-01 -1.73290471e-01 8.26349002e-01 2.81072243e+01] [-9.02905303e-02 9.84859625e-01 1.47983577e-01 -2.42424180e+01] [-8.39481912e-01 4.68309569e-03 -5.43367452e-01 5.63435443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75420609899997 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:28.13, Y:-24.24, Z:56.31 [[-5.35184186e-01 -1.68516230e-01 8.27756104e-01 2.81331224e+01] [-8.88643668e-02 9.85694042e-01 1.43214456e-01 -2.42376418e+01] [-8.40048220e-01 3.08809020e-03 -5.42502951e-01 5.63104084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78420609899997 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:27.89, Y:-23.88, Z:55.99 [[ 0.13970653 -0.70993795 0.6902682 27.88570415] [ -0.91516323 0.17360913 0.36378033 -23.87522693] [ -0.37809832 -0.68253057 -0.62545478 55.9924871 ] [ 0. 0. 0. 1. ]] SLAMing on 113.81420609899997 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:27.67, Y:-24.15, Z:55.56 [[ 0.83835915 -0.18919319 0.51123368 27.66980663] [ -0.36910601 -0.8871555 0.27697631 -24.1468187 ] [ 0.40114174 -0.42090505 -0.81358727 55.56062606] [ 0. 0. 0. 1. ]] SLAMing on 113.84420609899998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:27.94, Y:-24.65, Z:55.54 [[ 4.82318913e-01 6.71284146e-01 5.62801974e-01 2.79430074e+01] [ 8.14414665e-01 -5.80253850e-01 -5.84999060e-03 -2.46521924e+01] [ 3.22641006e-01 4.61175743e-01 -8.26571059e-01 5.55439251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.87420609899998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:28.39, Y:-24.22, Z:55.99 [[-4.82354789e-01 -2.79066011e-01 8.30334884e-01 2.83924638e+01] [-1.39165148e-01 9.60271262e-01 2.41892879e-01 -2.42170620e+01] [-8.64850808e-01 1.12451159e-03 -5.02027704e-01 5.59877985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90420609899998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:28.13, Y:-23.88, Z:55.66 [[ 0.2498259 -0.69050567 0.67881437 28.12535126] [ -0.88815993 0.11583003 0.4446969 -23.88082889] [ -0.38569282 -0.71399253 -0.58434212 55.6609692 ] [ 0. 0. 0. 1. ]] SLAMing on 113.93420609899998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:28.18, Y:-23.85, Z:55.54 [[ 0.24702823 -0.6410635 0.72664616 28.18151572] [ -0.88776012 0.15085264 0.43488557 -23.84869305] [ -0.38840575 -0.75251649 -0.53184575 55.53513071] [ 0. 0. 0. 1. ]] SLAMing on 113.96420609899998 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:28.35, Y:-24.62, Z:55.32 [[ 0.16413277 0.69053791 0.70442731 28.35059919] [ 0.98461942 -0.15803167 -0.0745023 -24.61996572] [ 0.05987516 0.70582108 -0.70585521 55.32408398] [ 0. 0. 0. 1. ]] SLAMing on 113.99420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.63, Y:-24.15, Z:55.69 [[-4.35076755e-01 -2.33120025e-01 8.69691481e-01 2.86282364e+01] [-8.99055947e-02 9.72322261e-01 2.15653436e-01 -2.41519306e+01] [-8.95893521e-01 1.56356672e-02 -4.43993608e-01 5.56855799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02420609899998 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:28.34, Y:-23.80, Z:55.28 [[ 3.77525338e-01 -6.13570248e-01 6.93546083e-01 2.83403687e+01] [-8.95853754e-01 -5.24568574e-02 4.41241803e-01 -2.38019339e+01] [-2.34351595e-01 -7.87895823e-01 -5.69473003e-01 5.52827626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05420609899998 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:28.25, Y:-24.15, Z:54.87 [[ 8.18392865e-01 4.91812197e-02 5.72550720e-01 2.82547018e+01] [-1.57774784e-01 -9.38813836e-01 3.06162862e-01 -2.41468253e+01] [ 5.52576001e-01 -3.40895568e-01 -7.60558989e-01 5.48682577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08420609899999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:28.67, Y:-24.59, Z:54.95 [[ 2.34935322e-01 6.95006866e-01 6.79537233e-01 2.86696390e+01] [ 9.32999357e-01 -3.57313850e-01 4.28837057e-02 -2.45856731e+01] [ 2.72612535e-01 6.23932904e-01 -7.32386603e-01 5.49496736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11420609899999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:28.97, Y:-24.11, Z:55.40 [[-3.99958081e-01 -3.48938175e-01 8.47511465e-01 2.89710248e+01] [-1.36302213e-01 9.37054722e-01 3.21481188e-01 -2.41074045e+01] [-9.06341680e-01 1.30613112e-02 -4.22343654e-01 5.54016775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14420609899997 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:28.66, Y:-23.79, Z:55.00 [[ 0.47792752 -0.58732859 0.65316951 28.65957931] [ -0.84384915 -0.10049246 0.52708621 -23.79109849] [ -0.24393419 -0.80308554 -0.54364485 54.99976856] [ 0. 0. 0. 1. ]] SLAMing on 114.17420609899997 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:28.72, Y:-23.76, Z:54.89 [[ 0.48065844 -0.53751078 0.69285614 28.71727938] [ -0.84497181 -0.07260594 0.52985943 -23.76104484] [ -0.23449968 -0.84012531 -0.48908011 54.88750808] [ 0. 0. 0. 1. ]] SLAMing on 114.20420609899998 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:29.08, Y:-24.49, Z:54.80 [[-6.70850496e-02 5.91221655e-01 8.03714222e-01 2.90824588e+01] [ 9.96045334e-01 8.67134473e-02 1.93512599e-02 -2.44875923e+01] [-5.82519470e-02 8.01833981e-01 -5.94700746e-01 5.48041340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.23420609899998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:28.91, Y:-23.70, Z:54.76 [[ 0.48115312 -0.53617157 0.69355009 28.90652402] [ -0.8454349 -0.07461435 0.52884074 -23.6965776 ] [ -0.23180058 -0.84080482 -0.48919908 54.75717839] [ 0. 0. 0. 1. ]] SLAMing on 114.26420609899998 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:28.91, Y:-24.11, Z:54.32 [[ 0.73415079 0.30764315 0.60529192 28.90770881] [ 0.11268513 -0.9343062 0.33819224 -24.11314404] [ 0.66957052 -0.1800767 -0.72058844 54.32006025] [ 0. 0. 0. 1. ]] SLAMing on 114.29420609899998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:29.39, Y:-24.43, Z:54.52 [[-2.43010293e-02 6.50741235e-01 7.58910604e-01 2.93903370e+01] [ 9.88375781e-01 -9.83223948e-02 1.15956985e-01 -2.44268129e+01] [ 1.50075899e-01 7.52906735e-01 -6.40787541e-01 5.45184441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32420609899998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:29.55, Y:-23.93, Z:54.94 [[-3.26758904e-01 -4.34006220e-01 8.39563708e-01 2.95496128e+01] [-1.45429314e-01 9.00835538e-01 4.09079025e-01 -2.39259431e+01] [-9.33851665e-01 1.15730395e-02 -3.57473260e-01 5.49357423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35420609899998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:29.27, Y:-23.62, Z:54.56 [[ 4.91327716e-01 -5.65141431e-01 6.62730894e-01 2.92671094e+01] [-8.08721786e-01 -1.35147681e-02 5.88036074e-01 -2.36213320e+01] [-3.23366894e-01 -8.24883333e-01 -4.63682368e-01 5.45635472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38420609899998 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:29.27, Y:-23.99, Z:54.09 [[ 0.75079534 0.32666442 0.57410515 29.26862716] [ 0.07399445 -0.90527522 0.41833192 -23.9945307 ] [ 0.65637732 -0.27160106 -0.70384777 54.093022 ] [ 0. 0. 0. 1. ]] SLAMing on 114.41420609899998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:29.73, Y:-24.31, Z:54.24 [[-2.74015159e-02 6.80768735e-01 7.31985715e-01 2.97266093e+01] [ 9.65578249e-01 -1.71456145e-01 1.95605307e-01 -2.43110052e+01] [ 2.58665426e-01 7.12149366e-01 -6.52637325e-01 5.42398513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44420609899998 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:29.86, Y:-23.81, Z:54.71 [[-2.98305596e-01 -5.21289185e-01 7.99544469e-01 2.98632902e+01] [-1.67336054e-01 8.53272727e-01 4.93886929e-01 -2.38111701e+01] [-9.39687404e-01 1.35366184e-02 -3.41766504e-01 5.47068935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47420609899999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:29.89, Y:-23.79, Z:54.68 [[-2.86948548e-01 -5.21282031e-01 8.03694952e-01 2.98892288e+01] [-1.67557675e-01 8.53355820e-01 4.93668179e-01 -2.37905117e+01] [-9.43178115e-01 6.99210976e-03 -3.32214018e-01 5.46793681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50420609899997 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:29.92, Y:-23.78, Z:54.66 [[-3.03409612e-01 -5.11648452e-01 8.03839828e-01 2.99236459e+01] [-1.57173261e-01 8.58924964e-01 4.87385343e-01 -2.37753138e+01] [-9.39808052e-01 2.15352708e-02 -3.41023545e-01 5.46589863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53420609899997 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:29.60, Y:-23.48, Z:54.21 [[ 0.60709898 -0.51112773 0.6084236 29.60370701] [ -0.75265955 -0.12434329 0.64656194 -23.48198103] [ -0.25482234 -0.85046293 -0.46019385 54.2147796 ] [ 0. 0. 0. 1. ]] SLAMing on 114.56420609899997 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:29.70, Y:-23.87, Z:53.73 [[ 0.71844441 0.42105763 0.55366786 29.70499882] [ 0.13944827 -0.86700194 0.47839504 -23.86686198] [ 0.681463 -0.26649221 -0.68160845 53.73343506] [ 0. 0. 0. 1. ]] SLAMing on 114.59420609899998 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:30.24, Y:-24.14, Z:53.92 [[ -0.17181518 0.65231282 0.73821916 30.23523064] [ 0.95981336 -0.05794525 0.2745918 -24.13557831] [ 0.22189605 0.75573165 -0.61614269 53.92125594] [ 0. 0. 0. 1. ]] SLAMing on 114.62420609899998 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:30.30, Y:-23.63, Z:54.38 [[-2.70164360e-01 -5.88558191e-01 7.61978001e-01 3.03037901e+01] [-1.67791353e-01 8.08077404e-01 5.64674217e-01 -2.36255444e+01] [-9.48080841e-01 2.47015284e-02 -3.17068690e-01 5.43753928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65420609899998 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:29.98, Y:-23.34, Z:53.95 [[ 0.64834528 -0.51201997 0.56345713 29.9830761 ] [ -0.69854723 -0.10572974 0.70770968 -23.34065067] [ -0.30278732 -0.85244165 -0.42621951 53.9526411 ] [ 0. 0. 0. 1. ]] SLAMing on 114.68420609899998 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:30.08, Y:-23.65, Z:53.45 [[ 0.7523208 0.4161243 0.51073866 30.08341363] [ 0.06913719 -0.82084815 0.56694653 -23.65296568] [ 0.65515911 -0.39121463 -0.6463108 53.45327097] [ 0. 0. 0. 1. ]] SLAMing on 114.71420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.57, Y:-23.94, Z:53.55 [[ -0.12268786 0.71104503 0.69236021 30.57312693] [ 0.91287782 -0.19284427 0.35981268 -23.94397108] [ 0.38936072 0.67618493 -0.62543759 53.55422386] [ 0. 0. 0. 1. ]] SLAMing on 114.74420609899998 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:30.63, Y:-23.46, Z:54.09 [[-2.23304459e-01 -6.63006375e-01 7.14533180e-01 3.06339349e+01] [-1.62755477e-01 7.48113690e-01 6.43301299e-01 -2.34554327e+01] [-9.61064916e-01 2.73578600e-02 -2.74965042e-01 5.40945116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77420609899998 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:30.30, Y:-23.19, Z:53.68 [[ 0.71293238 -0.47999965 0.51120227 30.30221962] [ -0.62869193 -0.114621 0.7691609 -23.18925943] [ -0.31060245 -0.86974845 -0.38348892 53.67513972] [ 0. 0. 0. 1. ]] SLAMing on 114.80420609899998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:30.42, Y:-23.47, Z:53.18 [[ 0.72959029 0.49417442 0.47274692 30.41862514] [ 0.10756262 -0.76558273 0.63428178 -23.47255088] [ 0.6753727 -0.41191593 -0.61171642 53.1842506 ] [ 0. 0. 0. 1. ]] SLAMing on 114.83420609899999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:30.94, Y:-23.72, Z:53.30 [[ -0.2358424 0.69499398 0.67923614 30.94318223] [ 0.88940192 -0.12728049 0.43904886 -23.72242738] [ 0.39158982 0.70766026 -0.58811085 53.30038407] [ 0. 0. 0. 1. ]] SLAMing on 114.86420609899999 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:30.94, Y:-23.24, Z:53.84 [[-1.80850868e-01 -7.24457792e-01 6.65172061e-01 3.09393553e+01] [-1.48954503e-01 6.88698373e-01 7.09582347e-01 -2.32440430e+01] [-9.72165377e-01 2.92482091e-02 -2.32462949e-01 5.38428423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89420609899997 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:30.58, Y:-23.02, Z:53.43 [[ 0.7985059 -0.41192964 0.4389787 30.57970183] [ -0.5400869 -0.16814086 0.82464222 -23.01655973] [ -0.26588432 -0.89556832 -0.35673927 53.43372709] [ 0. 0. 0. 1. ]] SLAMing on 114.92420609899997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:30.73, Y:-23.26, Z:52.97 [[ 0.71405771 0.55882684 0.42170387 30.73005884] [ 0.13580461 -0.70148346 0.69962709 -23.26285503] [ 0.68678869 -0.44230479 -0.57679093 52.9658603 ] [ 0. 0. 0. 1. ]] SLAMing on 114.95420609899998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:31.26, Y:-23.48, Z:53.06 [[ -0.27961685 0.71944089 0.63578237 31.25518578] [ 0.84331829 -0.13249889 0.52082465 -23.47727273] [ 0.45894301 0.68179824 -0.56966874 53.05984601] [ 0. 0. 0. 1. ]] SLAMing on 114.98420609899998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:31.22, Y:-23.02, Z:53.63 [[-1.48507729e-01 -7.82725104e-01 6.04389664e-01 3.12192872e+01] [-1.21489698e-01 6.20977687e-01 7.74355839e-01 -2.30175121e+01] [-9.81420250e-01 4.15707093e-02 -1.87313022e-01 5.36342849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01420609899998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:30.85, Y:-22.80, Z:53.24 [[ 0.83669139 -0.40264509 0.37124716 30.85006977] [ -0.45896022 -0.14561512 0.87644267 -22.80281229] [ -0.29883613 -0.90369971 -0.306633 53.24173844] [ 0. 0. 0. 1. ]] SLAMing on 115.04420609899998 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:30.90, Y:-22.73, Z:53.15 [[ 0.84031365 -0.36822024 0.39785276 30.89754793] [ -0.45861443 -0.09156405 0.88390544 -22.72645343] [ -0.28904287 -0.92521883 -0.24581364 53.14629245] [ 0. 0. 0. 1. ]] SLAMing on 115.07420609899998 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:31.13, Y:-22.91, Z:52.63 [[ 0.65277696 0.64063049 0.40432018 31.12713813] [ 0.12225823 -0.61581404 0.77834824 -22.90977038] [ 0.74761967 -0.45865633 -0.48031157 52.63212284] [ 0. 0. 0. 1. ]] SLAMing on 115.10420609899998 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:31.65, Y:-23.08, Z:52.72 [[ -0.32490124 0.72025116 0.61292533 31.65019072] [ 0.75564189 -0.19202634 0.62620382 -23.08274659] [ 0.56872183 0.66660645 -0.48186235 52.72234189] [ 0. 0. 0. 1. ]] SLAMing on 115.13420609899998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:31.57, Y:-22.69, Z:53.35 [[-9.01738043e-02 -8.28004051e-01 5.53423867e-01 3.15692704e+01] [-2.26723633e-02 5.57250397e-01 8.30034914e-01 -2.26925837e+01] [-9.95667941e-01 6.22999790e-02 -6.90221969e-02 5.33543864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16420609899998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:31.23, Y:-22.45, Z:53.04 [[ 8.01724093e-01 -4.82369392e-01 3.52928107e-01 3.12321127e+01] [-3.81666101e-01 4.12457449e-02 9.23379541e-01 -2.24506839e+01] [-4.59966810e-01 -8.74996319e-01 -1.51036337e-01 5.30360135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19420609899998 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:31.40, Y:-22.55, Z:52.48 [[ 7.33381660e-01 5.94054283e-01 3.30531163e-01 3.13950255e+01] [ 3.77629007e-02 -5.21054237e-01 8.52687777e-01 -2.25521104e+01] [ 6.78767489e-01 -6.12863762e-01 -4.04564835e-01 5.24758184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22420609899999 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:31.96, Y:-22.71, Z:52.49 [[ -0.29107344 0.78787222 0.54270952 31.9588917 ] [ 0.66008879 -0.24522667 0.71003287 -22.70643086] [ 0.69250202 0.56490818 -0.44868664 52.48940643] [ 0. 0. 0. 1. ]] SLAMing on 115.25420609899997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:31.87, Y:-22.34, Z:53.18 [[-4.04825698e-02 -8.72267145e-01 4.87351198e-01 3.18736507e+01] [ 2.43170057e-02 4.86746486e-01 8.73204754e-01 -2.23448731e+01] [-9.98884300e-01 4.72004943e-02 1.50617655e-03 5.31751471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28420609899997 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:31.50, Y:-22.12, Z:52.78 [[ 0.92172014 -0.28839899 0.25934148 31.50377124] [ -0.28578561 -0.05294277 0.95683 -22.12133792] [ -0.26221855 -0.95604555 -0.13121869 52.77979399] [ 0. 0. 0. 1. ]] SLAMing on 115.31420609899997 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:32.29, Y:-22.41, Z:52.66 [[ -0.6825419 0.32092414 0.65661575 32.29364095] [ 0.71432181 0.10296668 0.69220099 -22.41181032] [ 0.15453446 0.94149114 -0.29952219 52.6560055 ] [ 0. 0. 0. 1. ]] SLAMing on 115.34420609899998 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:32.39, Y:-22.27, Z:52.70 [[ -0.68626938 0.34932253 0.63797187 32.3852867 ] [ 0.71472027 0.1611434 0.68059367 -22.26665093] [ 0.13494175 0.92304202 -0.36025568 52.69719964] [ 0. 0. 0. 1. ]] SLAMing on 115.37420609899998 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:32.14, Y:-21.90, Z:53.15 [[-6.97656502e-02 -8.76490884e-01 4.76336524e-01 3.21361160e+01] [-4.07384587e-02 4.79604956e-01 8.76538341e-01 -2.18977999e+01] [-9.96731224e-01 4.17470515e-02 -6.91668393e-02 5.31531646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40420609899998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:31.76, Y:-21.71, Z:52.70 [[ 0.94834885 -0.22858586 0.21996127 31.75500132] [ -0.26059468 -0.16595176 0.95107856 -21.70917155] [ -0.18090015 -0.959275 -0.21694842 52.70472319] [ 0. 0. 0. 1. ]] SLAMing on 115.43420609899998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:31.80, Y:-21.62, Z:52.62 [[ 0.95165661 -0.19916924 0.23384034 31.79718511] [ -0.2582501 -0.10663139 0.96017531 -21.61674082] [ -0.16630266 -0.97414648 -0.15291195 52.61917874] [ 0. 0. 0. 1. ]] SLAMing on 115.46420609899998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:31.84, Y:-21.52, Z:52.54 [[ 9.54621783e-01 -1.68087970e-01 2.45852975e-01 3.18416762e+01] [-2.56885942e-01 -4.70470619e-02 9.65295906e-01 -2.15223803e+01] [-1.50687969e-01 -9.84648672e-01 -8.80915867e-02 5.25417220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49420609899998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:31.89, Y:-21.43, Z:52.47 [[ 9.56925104e-01 -1.36186599e-01 2.56412860e-01 3.18891474e+01] [-2.57270942e-01 1.15654331e-02 9.66270099e-01 -2.14280722e+01] [-1.34558564e-01 -9.90615693e-01 -2.39696014e-02 5.24714543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52420609899998 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:32.27, Y:-21.50, Z:52.00 [[ 0.39322941 0.85185265 0.34600245 32.27200151] [ 0.12886353 -0.42366561 0.89660562 -21.49870552] [ 0.91036521 -0.30798461 -0.27637052 52.00244662] [ 0. 0. 0. 1. ]] SLAMing on 115.55420609899998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:32.80, Y:-21.61, Z:52.29 [[ -0.68652794 0.38969982 0.61385132 32.79842152] [ 0.6380167 -0.08204366 0.7656393 -21.60859924] [ 0.3487321 0.91728016 -0.19230972 52.2920721 ] [ 0. 0. 0. 1. ]] SLAMing on 115.58420609899999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:32.50, Y:-21.32, Z:52.84 [[ 6.93068075e-02 -9.05560146e-01 4.18518085e-01 3.24965538e+01] [ 1.60104647e-01 4.24185618e-01 8.91309746e-01 -2.13184887e+01] [-9.84663937e-01 5.23285716e-03 1.74383338e-01 5.28430458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61420609899999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:32.52, Y:-21.29, Z:52.84 [[ 5.39285256e-02 -9.03921310e-01 4.24285257e-01 3.25162708e+01] [ 1.60016406e-01 4.27235441e-01 8.89867759e-01 -2.12866113e+01] [-9.85640129e-01 1.99033457e-02 1.67682417e-01 5.28404086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64420609899997 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:32.19, Y:-21.00, Z:52.42 [[ 9.58543099e-01 -2.01310017e-01 2.01666570e-01 3.21877815e+01] [-1.90097780e-01 7.54403890e-02 9.78862392e-01 -2.09990884e+01] [-2.12268609e-01 -9.76618157e-01 3.40442770e-02 5.24168420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67420609899997 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:32.55, Y:-21.01, Z:51.92 [[ 0.43518819 0.85577851 0.27973984 32.54802366] [ 0.09245114 -0.3515379 0.93159749 -21.01495353] [ 0.89558027 -0.37955796 -0.23210284 51.92038959] [ 0. 0. 0. 1. ]] SLAMing on 115.70420609899998 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:33.12, Y:-21.09, Z:52.19 [[ -0.70580076 0.4478682 0.54887099 33.12478527] [ 0.56334154 -0.11493233 0.81819122 -21.08583938] [ 0.42952485 0.88668181 -0.17118344 52.19287961] [ 0. 0. 0. 1. ]] SLAMing on 115.73420609899998 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:32.81, Y:-20.83, Z:52.79 [[ 6.45794930e-02 -9.33301636e-01 3.53238653e-01 3.28065901e+01] [ 1.89329196e-01 3.59007410e-01 9.13930049e-01 -2.08339577e+01] [-9.79787704e-01 7.85725099e-03 1.99885765e-01 5.27892428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76420609899998 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:32.83, Y:-20.79, Z:52.78 [[ 4.82607427e-02 -9.31383982e-01 3.60825136e-01 3.28285158e+01] [ 1.96618546e-01 3.63036437e-01 9.10793990e-01 -2.07914965e+01] [-9.79291605e-01 2.69893191e-02 2.00647772e-01 5.27808001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79420609899998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:32.48, Y:-20.51, Z:52.36 [[ 0.97315691 -0.19083964 0.12863075 32.4819511 ] [ -0.11345924 0.08844648 0.98959801 -20.5145563 ] [ -0.20023147 -0.97762848 0.06441979 52.36054854] [ 0. 0. 0. 1. ]] SLAMing on 115.82420609899998 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:32.85, Y:-20.49, Z:51.87 [[ 0.41263564 0.88510582 0.21521968 32.85039454] [ 0.10135675 -0.27941981 0.95480437 -20.49147444] [ 0.90523955 -0.37217235 -0.20501002 51.87008801] [ 0. 0. 0. 1. ]] SLAMing on 115.85420609899998 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:33.41, Y:-20.52, Z:52.11 [[ -0.70551198 0.52244712 0.47885473 33.40755642] [ 0.48741322 -0.13280222 0.86301328 -20.52125839] [ 0.51447178 0.84226633 -0.16095408 52.114104 ] [ 0. 0. 0. 1. ]] SLAMing on 115.88420609899998 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:33.10, Y:-20.36, Z:52.74 [[ 1.72755282e-02 -9.57650951e-01 2.87412963e-01 3.31025957e+01] [ 2.38956933e-01 2.83080255e-01 9.28851524e-01 -2.03569594e+01] [-9.70876480e-01 5.26329195e-02 2.33727695e-01 5.27373007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91420609899998 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:32.72, Y:-20.09, Z:52.28 [[ 9.94589624e-01 -9.74763039e-02 3.59144763e-02 3.27246310e+01] [-2.86215773e-02 7.52108424e-02 9.96756808e-01 -2.00945706e+01] [-9.98613276e-02 -9.92391908e-01 7.20139979e-02 5.22829187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94420609899998 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:32.76, Y:-19.98, Z:52.23 [[ 9.96488566e-01 -7.80339174e-02 3.03520168e-02 3.27591105e+01] [-1.92338484e-02 1.39469933e-01 9.90039493e-01 -1.99780865e+01] [-8.14898537e-02 -9.87146821e-01 1.37479301e-01 5.22285357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97420609899999 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:33.58, Y:-20.11, Z:52.22 [[-8.37978355e-01 9.63407631e-02 5.37131952e-01 3.35758315e+01] [ 5.31572235e-01 -7.84374241e-02 8.43373303e-01 -2.01099085e+01] [ 1.23382474e-01 9.92253006e-01 1.45167888e-02 5.22173259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00420609899997 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:33.62, Y:-20.00, Z:52.28 [[-8.44438155e-01 1.16583427e-01 5.22812115e-01 3.36232066e+01] [ 5.24861402e-01 -1.48440875e-02 8.51058260e-01 -2.00018572e+01] [ 1.06979958e-01 9.93069966e-01 -4.86552273e-02 5.22805995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03420609899997 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:33.65, Y:-19.88, Z:52.34 [[ -0.84095767 0.13670821 0.52354662 33.65439956] [ 0.53394758 0.05285011 0.84386424 -19.88485073] [ 0.08769367 0.98920055 -0.11743973 52.33944395] [ 0. 0. 0. 1. ]] SLAMing on 116.06420609899997 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:33.28, Y:-19.69, Z:52.78 [[ 4.21922452e-02 -9.58009396e-01 2.83615605e-01 3.32819064e+01] [ 1.71151012e-01 2.86602687e-01 9.42637911e-01 -1.96887081e+01] [-9.84340970e-01 8.76908797e-03 1.76056689e-01 5.27798110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.09420609899998 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:32.91, Y:-19.46, Z:52.31 [[ 9.94586914e-01 -9.92093140e-02 3.08930669e-02 3.29140572e+01] [-2.95716363e-02 1.47629851e-02 9.99453637e-01 -1.94587711e+01] [-9.96111836e-02 -9.94957068e-01 1.17492901e-02 5.23112845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12420609899998 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:33.76, Y:-19.56, Z:52.32 [[-8.42723054e-01 1.19522865e-01 5.24911553e-01 3.37585124e+01] [ 5.33245591e-01 5.14098474e-02 8.44396925e-01 -1.95560838e+01] [ 7.39391168e-02 9.91499527e-01 -1.07059304e-01 5.23209340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15420609899998 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:33.81, Y:-19.41, Z:52.39 [[ -0.84496317 0.13847031 0.51658805 33.81186796] [ 0.53191477 0.11695909 0.83868185 -19.40590946] [ 0.05571287 0.98343609 -0.17248052 52.38705219] [ 0. 0. 0. 1. ]] SLAMing on 116.18420609899998 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:33.06, Y:-19.03, Z:52.35 [[ 9.92823085e-01 -1.18002342e-01 1.94362800e-02 3.30575874e+01] [-2.53402198e-02 -4.87399129e-02 9.98490007e-01 -1.90303481e+01] [-1.16876836e-01 -9.91816449e-01 -5.13803160e-02 5.23525665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21420609899998 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:33.49, Y:-19.04, Z:51.88 [[ 0.24005328 0.95844573 0.15413047 33.49486947] [ 0.28401143 -0.22116656 0.93296455 -19.03902346] [ 0.9282844 -0.18018638 -0.32530131 51.88346643] [ 0. 0. 0. 1. ]] SLAMing on 116.24420609899998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:33.57, Y:-18.95, Z:52.70 [[ 6.07326382e-02 -9.75032986e-01 2.13593592e-01 3.35682936e+01] [ 1.96447971e-01 2.21479274e-01 9.55172825e-01 -1.89522908e+01] [-9.78631566e-01 -1.60501379e-02 2.04994273e-01 5.26979272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27420609899998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:33.58, Y:-18.91, Z:52.69 [[ 6.06055327e-02 -9.74577002e-01 2.15700342e-01 3.35771088e+01] [ 1.99268039e-01 2.23560709e-01 9.54103170e-01 -1.89106639e+01] [-9.78069128e-01 -1.48417468e-02 2.07751063e-01 5.26931274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30420609899998 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:33.59, Y:-18.88, Z:52.69 [[ 4.23112230e-02 -9.74080714e-01 2.22208289e-01 3.35911923e+01] [ 2.01123230e-01 2.26158607e-01 9.53101113e-01 -1.88751844e+01] [-9.78651729e-01 4.36437524e-03 2.05479307e-01 5.26892701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33420609899999 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:33.21, Y:-18.69, Z:52.25 [[ 9.93116870e-01 -1.08857649e-01 -4.32307168e-02 3.32130232e+01] [ 4.67903906e-02 3.03599120e-02 9.98443256e-01 -1.86893211e+01] [-1.07375704e-01 -9.93593623e-01 3.52444327e-02 5.22535367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36420609899999 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:34.04, Y:-18.76, Z:52.23 [[-8.67749395e-01 1.25957811e-01 4.80776057e-01 3.40400278e+01] [ 4.88805903e-01 4.13366296e-02 8.71412688e-01 -1.87601273e+01] [ 8.98875729e-02 9.91174007e-01 -9.74387570e-02 5.22332017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39420609899997 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:33.26, Y:-18.45, Z:52.25 [[ 9.93545082e-01 -1.08321018e-01 -3.36857058e-02 3.32629110e+01] [ 3.70866594e-02 2.95366826e-02 9.98875450e-01 -1.84540012e+01] [-1.07204242e-01 -9.93677081e-01 3.33632904e-02 5.22463478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42420609899997 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:34.10, Y:-18.50, Z:52.25 [[-8.71095303e-01 1.25124984e-01 4.74907056e-01 3.41009466e+01] [ 4.82832567e-01 4.13598719e-02 8.74735430e-01 -1.84976940e+01] [ 8.98091621e-02 9.91278518e-01 -9.64428076e-02 5.22451694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.45420609899998 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:33.71, Y:-18.32, Z:52.69 [[ 4.27423400e-02 -9.72595121e-01 2.28542827e-01 3.37147410e+01] [ 1.96820332e-01 2.32466113e-01 9.52481634e-01 -1.83232731e+01] [-9.79507452e-01 4.27058117e-03 2.01362640e-01 5.26908903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48420609899998 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:33.35, Y:-18.11, Z:52.32 [[ 9.53538688e-01 -3.01219904e-01 -5.52622913e-03 3.33462409e+01] [ 3.08231082e-02 7.92936695e-02 9.96374653e-01 -1.81096728e+01] [-2.99689682e-01 -9.50252116e-01 8.48941153e-02 5.23190187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51420609899998 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:33.63, Y:-18.03, Z:51.80 [[ 5.22004067e-01 8.51542867e-01 4.88518066e-02 3.36328988e+01] [ 1.42365063e-01 -1.43455857e-01 9.79363368e-01 -1.80304135e+01] [ 8.40977968e-01 -5.04276871e-01 -1.96114495e-01 5.18034815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54420609899998 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:34.23, Y:-18.00, Z:51.98 [[ -0.71948337 0.6004325 0.34903366 34.23064412] [ 0.38856243 -0.06853777 0.91886986 -18.00100183] [ 0.57564131 0.79673295 -0.18399373 51.98112055] [ 0. 0. 0. 1. ]] SLAMing on 116.57420609899998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:33.90, Y:-17.88, Z:52.63 [[ 3.67102387e-02 -9.87714332e-01 1.51897191e-01 3.39019155e+01] [ 2.44261010e-01 1.56257862e-01 9.57037115e-01 -1.78770778e+01] [-9.69014405e-01 1.96950033e-03 2.46996364e-01 5.26321644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60420609899998 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:33.52, Y:-17.68, Z:52.25 [[ 0.96531185 -0.24391162 -0.09316734 33.51915695] [ 0.11832232 0.0905684 0.98883628 -17.67864809] [ -0.23275064 -0.96555916 0.11628694 52.24634042] [ 0. 0. 0. 1. ]] SLAMing on 116.63420609899998 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:33.82, Y:-17.56, Z:51.76 [[ 4.62856799e-01 8.86179371e-01 -2.12062596e-02 3.38199977e+01] [ 1.51355234e-01 -5.54366767e-02 9.86923689e-01 -1.75632598e+01] [ 8.73415810e-01 -4.60014018e-01 -1.59787129e-01 5.17585325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66420609899998 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:34.36, Y:-17.51, Z:51.92 [[ -0.70860364 0.65507391 0.26221948 34.36252978] [ 0.29869218 -0.05820535 0.9525729 -17.50581638] [ 0.63926822 0.75331953 -0.15442093 51.91779923] [ 0. 0. 0. 1. ]] SLAMing on 116.69420609899998 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:34.05, Y:-17.45, Z:52.59 [[ 8.09397288e-03 -9.97239359e-01 7.38115716e-02 3.40507357e+01] [ 2.98731042e-01 7.28546245e-02 9.51552399e-01 -1.74509398e+01] [-9.54303019e-01 1.43479684e-02 2.98496036e-01 5.25852263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72420609899999 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:33.64, Y:-17.29, Z:52.21 [[ 0.96394132 -0.19728023 -0.17859913 33.64427323] [ 0.20358708 0.11449212 0.97233937 -17.29422609] [ -0.17137515 -0.97363857 0.1505274 52.20908582] [ 0. 0. 0. 1. ]] SLAMing on 116.75420609899997 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:34.47, Y:-17.23, Z:52.12 [[-9.21433562e-01 2.03123488e-01 3.31211471e-01 3.44685164e+01] [ 3.30872244e-01 -3.66457969e-02 9.42963755e-01 -1.72345100e+01] [ 2.03675595e-01 9.78467135e-01 -3.34412570e-02 5.21188638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78420609899997 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:34.49, Y:-17.12, Z:52.17 [[-9.27946146e-01 2.08389672e-01 3.09014070e-01 3.44926965e+01] [ 3.21683495e-01 2.90492742e-02 9.46401537e-01 -1.71178833e+01] [ 1.88243671e-01 9.77614384e-01 -9.39916801e-02 5.21749255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.81420609899997 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:34.52, Y:-16.96, Z:52.25 [[ -0.93176352 0.21161857 0.29501581 34.52094298] [ 0.32035029 0.09680392 0.94234001 -16.962308 ] [ 0.17085796 0.97254644 -0.15799043 52.24653944] [ 0. 0. 0. 1. ]] SLAMing on 116.84420609899998 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:34.54, Y:-16.80, Z:52.31 [[ -0.93412774 0.21321961 0.28625648 34.53990302] [ 0.32249646 0.16045546 0.93287195 -16.8031455 ] [ 0.15297518 0.96373826 -0.21864847 52.31106926] [ 0. 0. 0. 1. ]] SLAMing on 116.87420609899998 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:34.13, Y:-16.66, Z:52.78 [[-1.40701705e-02 -9.99306045e-01 3.44885222e-02 3.41335752e+01] [ 1.02987776e-01 3.28601568e-02 9.94139692e-01 -1.66574523e+01] [-9.94583103e-01 1.75396112e-02 1.02453959e-01 5.27807392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90420609899998 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:33.72, Y:-16.57, Z:52.34 [[ 9.57949311e-01 -1.84083823e-01 -2.20105118e-01 3.37189870e+01] [ 2.06119160e-01 -9.21821511e-02 9.74175212e-01 -1.65673406e+01] [-1.99619660e-01 -9.78578355e-01 -5.03626253e-02 5.23377245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93420609899998 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:33.72, Y:-16.45, Z:52.27 [[ 9.59745769e-01 -1.82177368e-01 -2.13774333e-01 3.37185140e+01] [ 2.13314599e-01 -2.23494877e-02 9.76727896e-01 -1.64510711e+01] [-1.82715464e-01 -9.83011652e-01 1.74112659e-02 5.22688385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96420609899998 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:34.54, Y:-16.38, Z:52.20 [[ -0.9353462 0.18691471 0.30031712 34.53944707] [ 0.3209735 0.09164174 0.94264405 -16.37672969] [ 0.14867245 0.97809237 -0.14571142 52.1954536 ] [ 0. 0. 0. 1. ]] SLAMing on 116.99420609899998 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:34.56, Y:-16.23, Z:52.26 [[ -0.93873274 0.18880144 0.28833118 34.56030074] [ 0.31879498 0.15778121 0.93459877 -16.22556458] [ 0.13096036 0.96925699 -0.20830333 52.26061865] [ 0. 0. 0. 1. ]] SLAMing on 117.02420609899998 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:34.15, Y:-16.08, Z:52.72 [[-1.07355268e-02 -9.99172729e-01 3.92250759e-02 3.41505725e+01] [ 9.88874503e-02 3.79741935e-02 9.94373789e-01 -1.60829368e+01] [-9.95040713e-01 1.45539942e-02 9.83979706e-02 5.27174364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05420609899998 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:33.75, Y:-16.00, Z:52.22 [[ 0.97141782 -0.06622466 -0.2279511 33.74661747] [ 0.2213099 -0.09461234 0.97060313 -16.00184878] [ -0.08584485 -0.99330902 -0.07725194 52.22395658] [ 0. 0. 0. 1. ]] SLAMing on 117.08420609899999 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:33.75, Y:-15.86, Z:52.13 [[ 9.73303754e-01 -6.41492072e-02 -2.20373960e-01 3.37464772e+01] [ 2.19047664e-01 -2.71097203e-02 9.75337472e-01 -1.58632904e+01] [-6.85414019e-02 -9.97572024e-01 -1.23342585e-02 5.21290976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11420609899999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:34.15, Y:-15.75, Z:51.70 [[ 2.20581087e-01 9.71537472e-01 -8.63650644e-02 3.41537377e+01] [ 2.86569326e-01 2.00845715e-02 9.57848961e-01 -1.57470584e+01] [ 9.32320763e-01 -2.36032943e-01 -2.73982561e-01 5.16987285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14420609899997 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:34.63, Y:-15.77, Z:52.00 [[ -0.93712641 0.24471189 0.24881756 34.62558267] [ 0.27006264 0.05692277 0.96115866 -15.76882042] [ 0.22104357 0.96792349 -0.11943137 51.99582567] [ 0. 0. 0. 1. ]] SLAMing on 117.17420609899997 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:34.24, Y:-15.73, Z:52.48 [[-4.28940826e-02 -9.98385788e-01 -3.72279056e-02 3.42429128e+01] [ 2.30640328e-01 -4.61510420e-02 9.71943990e-01 -1.57279829e+01] [-9.72093173e-01 3.31043895e-02 2.32247632e-01 5.24836213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20420609899998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] SLAMing on 117.23420609899998 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:33.85, Y:-15.82, Z:52.00 [[ 9.25631259e-01 1.99988484e-01 -3.21265278e-01 3.38470299e+01] [ 3.24905395e-01 1.52675568e-02 9.45623279e-01 -1.58172278e+01] [ 1.94018701e-01 -9.79679288e-01 -5.08452094e-02 5.20008118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26420609899998 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:34.24, Y:-15.76, Z:52.49 [[-4.97464483e-02 -9.93735056e-01 -1.00079620e-01 3.42383837e+01] [ 2.80143834e-01 -1.10064378e-01 9.53627425e-01 -1.57555702e+01] [-9.58668203e-01 1.94028890e-02 2.83864061e-01 5.24874896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29420609899998 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:34.24, Y:-15.75, Z:52.49 [[-4.60877938e-02 -9.95396878e-01 -8.40295820e-02 3.42385589e+01] [ 2.80838970e-01 -9.36373272e-02 9.55176174e-01 -1.57530258e+01] [-9.58647687e-01 2.04231813e-02 2.83861772e-01 5.24875329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32420609899998 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:34.27, Y:-15.73, Z:52.48 [[ -0.1126212 -0.99109109 -0.0710979 34.26741886] [ 0.29465863 -0.10164626 0.95018121 -15.73080929] [ -0.94894297 0.08606094 0.30348107 52.48228093] [ 0. 0. 0. 1. ]] SLAMing on 117.35420609899998 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:33.93, Y:-15.73, Z:51.83 [[ 0.71062146 0.62051091 -0.33163737 33.92607628] [ 0.33253539 0.11917612 0.93553047 -15.72522706] [ 0.62003012 -0.77508919 -0.12165273 51.83225921] [ 0. 0. 0. 1. ]] SLAMing on 117.38420609899998 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:34.56, Y:-15.62, Z:51.87 [[ -0.83121176 0.55005436 0.08079113 34.56194032] [ 0.14120058 0.06831426 0.98762116 -15.61637554] [ 0.53772614 0.83233008 -0.13445161 51.87081027] [ 0. 0. 0. 1. ]] SLAMing on 117.41420609899998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:34.24, Y:-15.69, Z:52.49 [[-7.48718734e-02 -9.86741441e-01 -1.43998370e-01 3.42390285e+01] [ 2.84340116e-01 -1.59534114e-01 9.45356845e-01 -1.56943305e+01] [-9.55795429e-01 2.98361250e-02 2.92514793e-01 5.24906208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44420609899998 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:33.84, Y:-15.74, Z:52.01 [[ 8.86045411e-01 1.59467071e-01 -4.35308837e-01 3.38418734e+01] [ 4.24456941e-01 9.85711693e-02 9.00066681e-01 -1.57384942e+01] [ 1.86439899e-01 -9.82269809e-01 1.96516269e-02 5.20143488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47420609899999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:34.30, Y:-15.63, Z:51.70 [[ -0.22448102 0.95912687 -0.17229023 34.30203779] [ 0.17564507 0.21373099 0.96097236 -15.62857241] [ 0.95851817 0.18545813 -0.21644446 51.6985351 ] [ 0. 0. 0. 1. ]] SLAMing on 117.50420609899997 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:34.62, Y:-15.58, Z:52.01 [[-9.80675179e-01 1.94736808e-01 1.88087362e-02 3.46203121e+01] [ 2.75862353e-02 4.24600106e-02 9.98717251e-01 -1.55838154e+01] [ 1.93688391e-01 9.79936081e-01 -4.70115339e-02 5.20132434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53420609899997 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:34.23, Y:-15.66, Z:52.49 [[-7.90035335e-02 -9.71217097e-01 -2.24712688e-01 3.42265996e+01] [ 2.67700110e-01 -2.37806920e-01 9.33694018e-01 -1.56613152e+01] [-9.60257826e-01 1.36095155e-02 2.78782510e-01 5.24906749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56420609899997 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:33.85, Y:-15.76, Z:52.22 [[ 8.30762826e-01 -3.24736139e-01 -4.52083584e-01 3.38522340e+01] [ 4.72369544e-01 -1.83332778e-02 8.81209910e-01 -1.57613406e+01] [-2.94448878e-01 -9.45626951e-01 1.38164856e-01 5.22159685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.59420609899998 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:34.23, Y:-15.67, Z:52.49 [[-8.06885597e-02 -9.77940714e-01 -1.92668931e-01 3.42283262e+01] [ 3.31197443e-01 -2.08621642e-01 9.20209359e-01 -1.56748576e+01] [-9.40105106e-01 1.04389106e-02 3.40724844e-01 5.24913488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62420609899998 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:33.85, Y:-15.74, Z:52.23 [[ 8.32814125e-01 -3.62128917e-01 -4.18668461e-01 3.38522589e+01] [ 4.65211574e-01 4.79785441e-02 8.83898326e-01 -1.57447734e+01] [-2.99998040e-01 -9.30892425e-01 2.08423773e-01 5.22251289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65420609899998 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:34.23, Y:-15.69, Z:52.49 [[-6.94089592e-02 -9.84776441e-01 -1.59366740e-01 3.42250210e+01] [ 3.95944230e-01 -1.73824898e-01 9.01672375e-01 -1.56930476e+01] [-9.15647619e-01 -5.16200272e-04 4.01981555e-01 5.24900173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68420609899998 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:34.22, Y:-15.70, Z:52.49 [[-5.89473282e-02 -9.86922341e-01 -1.50031682e-01 3.42225173e+01] [ 3.97881887e-01 -1.61067172e-01 9.03187340e-01 -1.57014068e+01] [-9.15540942e-01 -6.45440828e-03 4.02173003e-01 5.24889741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71420609899998 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:34.22, Y:-15.68, Z:52.49 [[-6.36851848e-02 -9.87780386e-01 -1.42246641e-01 3.42227982e+01] [ 3.96471751e-01 -1.55847425e-01 9.04721908e-01 -1.56825418e+01] [-9.15835328e-01 1.22060694e-03 4.01552192e-01 5.24915410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74420609899998 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:34.22, Y:-15.68, Z:52.49 [[-5.58349032e-02 -9.89342873e-01 -1.34473577e-01 3.42192070e+01] [ 4.08654309e-01 -1.45530411e-01 9.01011961e-01 -1.56849220e+01] [-9.10979758e-01 -4.64529121e-03 4.12424905e-01 5.24878043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77420609899998 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:34.22, Y:-15.67, Z:52.49 [[-5.35563599e-02 -9.91502158e-01 -1.18554571e-01 3.42187926e+01] [ 3.97839235e-01 -1.30081893e-01 9.08186459e-01 -1.56719116e+01] [-9.15890637e-01 1.47350087e-03 4.01425173e-01 5.24935681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80420609899998 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:34.21, Y:-15.68, Z:52.49 [[-3.93608195e-02 -9.93036859e-01 -1.11033883e-01 3.42144425e+01] [ 4.02910385e-01 -1.17459000e-01 9.07670978e-01 -1.56793502e+01] [-9.14392666e-01 -9.01003095e-03 4.04728146e-01 5.24917503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83420609899999 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:34.21, Y:-15.69, Z:52.49 [[-2.66474233e-02 -9.94363521e-01 -1.02621165e-01 3.42108846e+01] [ 4.13632332e-01 -1.04425058e-01 9.04435571e-01 -1.56887436e+01] [-9.10053959e-01 -1.83465543e-02 4.14083560e-01 5.24874140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86420609899997 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:34.21, Y:-15.67, Z:52.49 [[-3.03719345e-02 -9.95771956e-01 -8.66934712e-02 3.42132698e+01] [ 4.08976772e-01 -9.15211677e-02 9.07943762e-01 -1.56699222e+01] [-9.12039224e-01 -7.87960753e-03 4.10027275e-01 5.24901102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89420609899997 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:34.23, Y:-15.68, Z:52.50 [[-5.19218488e-02 -9.96259214e-01 -6.90774899e-02 3.42278986e+01] [ 3.83376319e-01 -8.37554767e-02 9.19786724e-01 -1.56790260e+01] [-9.22131617e-01 2.12743534e-02 3.86290930e-01 5.24981220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92420609899997 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:34.59, Y:-15.55, Z:51.94 [[-8.99999025e-01 4.07803665e-01 1.53941304e-01 3.45857168e+01] [ 1.61208241e-01 -1.67206673e-02 9.86778761e-01 -1.55472966e+01] [ 4.04985996e-01 9.12916530e-01 -5.06927273e-02 5.19410794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.95420609899998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:34.21, Y:-15.64, Z:52.50 [[-2.13718108e-02 -9.95784004e-01 -8.92046166e-02 3.42093051e+01] [ 3.48075572e-01 -9.10538354e-02 9.33034080e-01 -1.56414670e+01] [-9.37222835e-01 -1.11093201e-02 3.48554072e-01 5.24961865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98420609899998 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:34.21, Y:-15.62, Z:52.50 [[-2.39505273e-02 -9.96472797e-01 -8.04259779e-02 3.42098139e+01] [ 3.47955141e-01 -8.37279881e-02 9.33764876e-01 -1.56249467e+01] [-9.37205203e-01 -5.62047127e-03 3.48733162e-01 5.24967160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01420609899998 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:34.21, Y:-15.63, Z:52.50 [[-2.16989325e-02 -9.97382565e-01 -6.89722741e-02 3.42107427e+01] [ 3.47854604e-01 -7.22098466e-02 9.34763560e-01 -1.56310268e+01] [-9.37297355e-01 -3.70895173e-03 3.48510994e-01 5.24959516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04420609899998 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:34.21, Y:-15.62, Z:52.50 [[-1.50149206e-02 -9.98239533e-01 -5.73793228e-02 3.42087813e+01] [ 3.41871898e-01 -5.90525942e-02 9.37889331e-01 -1.56184931e+01] [-9.39626605e-01 -5.53404414e-03 3.42156714e-01 5.24993706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07420609899998 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:34.21, Y:-15.62, Z:52.50 [[-1.45462455e-02 -9.98690446e-01 -4.90489545e-02 3.42102596e+01] [ 3.44829019e-01 -5.10552353e-02 9.37276006e-01 -1.56245625e+01] [-9.38552798e-01 -3.27965596e-03 3.45120109e-01 5.24970780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10420609899998 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:34.21, Y:-15.61, Z:52.50 [[-1.14791880e-02 -9.99085555e-01 -4.11859438e-02 3.42084882e+01] [ 3.46245934e-01 -4.26120471e-02 9.37175526e-01 -1.56115896e+01] [-9.38073548e-01 -3.50245149e-03 3.46418463e-01 5.24978690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13420609899998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:33.84, Y:-15.60, Z:52.23 [[ 0.89405373 -0.35182037 -0.27729111 33.8358534 ] [ 0.33679809 0.11979539 0.93392511 -15.59851484] [ -0.29535568 -0.92837034 0.22559595 52.22843473] [ 0. 0. 0. 1. ]] SLAMing on 118.16420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.94, Y:-15.54, Z:51.80 [[ 6.49982237e-01 7.14030066e-01 -2.60161789e-01 3.39428485e+01] [ 1.91074780e-01 1.77792546e-01 9.65339442e-01 -1.55444489e+01] [ 7.35536213e-01 -6.77163846e-01 -2.08711410e-02 5.18016058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19420609899998 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:34.41, Y:-15.47, Z:51.76 [[-4.77175045e-01 8.78808259e-01 -1.45201186e-04 3.44069551e+01] [ 8.78183484e-02 4.78479773e-02 9.94986688e-01 -1.54723532e+01] [ 8.74409466e-01 4.74770066e-01 -1.00007351e-01 5.17564632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22420609899999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] SLAMing on 118.25420609899997 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:34.61, Y:-15.50, Z:52.15 [[ -0.98291974 -0.09687896 0.15647123 34.61131084] [ 0.16537135 -0.09187801 0.98194233 -15.50106654] [ -0.08075329 0.99104637 0.10632972 52.15391419] [ 0. 0. 0. 1. ]] SLAMing on 118.28420609899997 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:34.21, Y:-15.59, Z:52.50 [[-4.15439083e-02 -9.93228253e-01 -1.08497654e-01 3.42114439e+01] [ 3.54520495e-01 -1.16179304e-01 9.27802559e-01 -1.55871476e+01] [-9.34124897e-01 7.99026265e-05 3.56946314e-01 5.25023025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31420609899997 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:33.84, Y:-15.61, Z:52.22 [[ 0.87233713 -0.3399356 -0.35138542 33.83708534] [ 0.40769316 0.10910218 0.90657763 -15.60517922] [ -0.26984109 -0.93409876 0.2337633 52.22386382] [ 0. 0. 0. 1. ]] SLAMing on 118.34420609899998 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:33.97, Y:-15.52, Z:51.78 [[ 5.58512522e-01 7.67923687e-01 -3.13619154e-01 3.39702851e+01] [ 2.13488379e-01 2.32272269e-01 9.48932192e-01 -1.55164521e+01] [ 8.01552540e-01 -5.96944557e-01 -3.42158124e-02 5.17841444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37420609899998 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:34.43, Y:-15.43, Z:51.78 [[-5.53808856e-01 8.31055180e-01 -5.14104943e-02 3.44270830e+01] [ 4.35364597e-02 9.05609832e-02 9.94938835e-01 -1.54323502e+01] [ 8.31504857e-01 5.48767707e-01 -8.63346748e-02 5.17798225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40420609899998 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:34.59, Y:-15.46, Z:52.22 [[ -0.96807154 -0.23330416 0.09168783 34.59173368] [ 0.12321847 -0.12435426 0.98455738 -15.4612194 ] [ -0.21829956 0.96441961 0.1491312 52.2155339 ] [ 0. 0. 0. 1. ]] SLAMing on 118.43420609899998 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:34.21, Y:-15.55, Z:52.51 [[-6.09970524e-02 -9.83908015e-01 -1.67941590e-01 3.42080097e+01] [ 3.58356298e-01 -1.78624248e-01 9.16337352e-01 -1.55549977e+01] [-9.31590105e-01 -4.28904893e-03 3.63485186e-01 5.25052488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46420609899998 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:33.83, Y:-15.58, Z:52.21 [[ 0.85501742 -0.30245037 -0.42127068 33.82982393] [ 0.46699539 0.09577803 0.87905738 -15.57906457] [ -0.22552275 -0.94834084 0.22313482 52.21222129] [ 0. 0. 0. 1. ]] SLAMing on 118.49420609899998 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:33.99, Y:-15.48, Z:51.77 [[ 0.47250477 0.80174934 -0.36597437 33.99092621] [ 0.239949 0.28253907 0.92876055 -15.47535678] [ 0.84803521 -0.52665898 -0.0588779 51.77344128] [ 0. 0. 0. 1. ]] SLAMing on 118.52420609899998 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:34.46, Y:-15.39, Z:51.81 [[-6.48289381e-01 7.55376609e-01 -9.55356341e-02 3.44609759e+01] [-1.63388925e-02 1.11643923e-01 9.93613947e-01 -1.53850288e+01] [ 7.61218707e-01 6.45710317e-01 -6.00355525e-02 5.18055085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55420609899998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:34.22, Y:-15.55, Z:52.51 [[-1.13060164e-01 -9.65308245e-01 -2.35366504e-01 3.42197962e+01] [ 3.88797293e-01 -2.60978201e-01 8.83587598e-01 -1.55531808e+01] [-9.14359921e-01 8.38869938e-03 4.04815471e-01 5.25094602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58420609899999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:34.21, Y:-15.54, Z:52.51 [[-1.08236903e-01 -9.68169379e-01 -2.25683021e-01 3.42119751e+01] [ 4.00752644e-01 -2.50246954e-01 8.81347707e-01 -1.55354167e+01] [-9.09770351e-01 4.95127843e-03 4.15082394e-01 5.25093419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61420609899997 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:33.83, Y:-15.60, Z:52.23 [[ 0.80916498 -0.35757188 -0.4662557 33.83467257] [ 0.53371582 0.1153768 0.8377563 -15.59693583] [ -0.24576301 -0.92673111 0.28420064 52.23040043] [ 0. 0. 0. 1. ]] SLAMing on 118.64420609899997 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:34.22, Y:-15.56, Z:52.51 [[-1.14184068e-01 -9.75027212e-01 -1.90483423e-01 3.42215672e+01] [ 4.47326535e-01 -2.21660698e-01 8.66467256e-01 -1.55599920e+01] [-8.87051842e-01 1.37284668e-02 4.61465665e-01 5.25129959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67420609899997 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:34.21, Y:-15.56, Z:52.51 [[-9.10541002e-02 -9.79412359e-01 -1.80168203e-01 3.42107863e+01] [ 4.65483739e-01 -2.01797597e-01 8.61743941e-01 -1.55593087e+01] [-8.80360176e-01 -5.40004959e-03 4.74275025e-01 5.25059874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.83, Y:-15.58, Z:52.24 [[ 0.82811278 -0.37295482 -0.41849005 33.83062579] [ 0.50935954 0.18892264 0.83956006 -15.57779678] [ -0.23405573 -0.90841232 0.34641735 52.23557471] [ 0. 0. 0. 1. ]] SLAMing on 118.73420609899998 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:34.21, Y:-15.57, Z:52.50 [[-8.12159775e-02 -9.86327412e-01 -1.43395264e-01 3.42081302e+01] [ 5.31997819e-01 -1.64560946e-01 8.30600996e-01 -1.55734876e+01] [-8.42841791e-01 -8.82789607e-03 5.38089010e-01 5.24997373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76420609899998 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:33.82, Y:-15.54, Z:52.22 [[ 0.85329872 -0.32639227 -0.40663174 33.82089231] [ 0.49754756 0.27640101 0.82222193 -15.53882109] [ -0.15597346 -0.90391956 0.39824831 52.21781566] [ 0. 0. 0. 1. ]] SLAMing on 118.79420609899998 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:33.98, Y:-15.35, Z:51.80 [[ 0.48225475 0.80120338 -0.35426474 33.97725648] [ 0.07027877 0.36771025 0.92728101 -15.35277455] [ 0.87320745 -0.47208296 0.12102242 51.79678527] [ 0. 0. 0. 1. ]] SLAMing on 118.82420609899998 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:34.45, Y:-15.27, Z:51.86 [[-6.69524607e-01 7.40281047e-01 -6.09981301e-02 3.44542365e+01] [-1.26638342e-01 -3.28437835e-02 9.91405072e-01 -1.52723850e+01] [ 7.31914975e-01 6.71494793e-01 1.15737686e-01 5.18597047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85420609899998 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:34.22, Y:-15.56, Z:52.50 [[-1.52883595e-01 -9.66917563e-01 -2.04198514e-01 3.42248402e+01] [ 5.60497410e-01 -2.55018334e-01 7.87913893e-01 -1.55591009e+01] [-8.13922146e-01 6.00637050e-03 5.80942909e-01 5.25037504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88420609899998 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:33.82, Y:-15.55, Z:52.21 [[ 0.81749517 -0.33704039 -0.46701758 33.8232376 ] [ 0.56374048 0.30228843 0.76864711 -15.55116637] [ -0.11789111 -0.89164201 0.43712264 52.21430707] [ 0. 0. 0. 1. ]] SLAMing on 118.91420609899998 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:33.96, Y:-15.34, Z:51.80 [[ 4.90138836e-01 7.66767802e-01 -4.14525101e-01 3.39602625e+01] [ 4.08785061e-02 4.54822646e-01 8.89643360e-01 -1.53351629e+01] [ 8.70685287e-01 -4.52993928e-01 1.91581920e-01 5.18003041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94420609899998 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:33.88, Y:-15.39, Z:51.89 [[ 0.67313474 0.51287024 -0.53277925 33.87587847] [ 0.2087891 0.55932922 0.80222063 -15.38807442] [ 0.70943409 -0.65124108 0.26942221 51.88652847] [ 0. 0. 0. 1. ]] SLAMing on 118.97420609899999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] Translation: X:34.33, Y:-15.18, Z:51.83 [[ -0.42273841 0.86754727 -0.26201904 34.33058927] [ -0.29050055 0.14414498 0.94595542 -15.18042717] [ 0.85842977 0.47600836 0.19108734 51.8321182 ] [ 0. 0. 0. 1. ]] SLAMing on 119.00420609899997 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:34.56, Y:-15.28, Z:52.25 [[-9.90603150e-01 -1.06828238e-01 -8.53998071e-02 3.45554041e+01] [-3.09599594e-02 -4.33052659e-01 9.00836764e-01 -1.52787627e+01] [-1.33217418e-01 8.95015710e-01 4.25675931e-01 5.22506994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03420609899997 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:34.23, Y:-15.53, Z:52.52 [[-2.32288398e-01 -9.24801344e-01 -3.01304785e-01 3.42289360e+01] [ 5.73378191e-01 -3.80427058e-01 7.25611951e-01 -1.55255363e+01] [-7.85671401e-01 -4.21035518e-03 6.18629714e-01 5.25209376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06420609899997 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:33.85, Y:-15.59, Z:52.24 [[ 0.70472769 -0.43955654 -0.55691016 33.85173606] [ 0.69579434 0.27477088 0.66360471 -15.58982108] [ -0.13866909 -0.85515555 0.4994796 52.23863011] [ 0. 0. 0. 1. ]] SLAMing on 119.09420609899998 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:33.95, Y:-15.30, Z:51.83 [[ 0.45408096 0.71641964 -0.52967291 33.94887202] [ 0.05485622 0.57088797 0.81919334 -15.30089636] [ 0.88927008 -0.40103595 0.21992928 51.82810326] [ 0. 0. 0. 1. ]] SLAMing on 119.12420609899998 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:34.42, Y:-15.13, Z:51.94 [[-6.80569894e-01 6.90710724e-01 -2.44424458e-01 3.44157051e+01] [-3.41585624e-01 -3.98498057e-03 9.39842211e-01 -1.51318365e+01] [ 6.48185067e-01 7.23120194e-01 2.38648911e-01 5.19361235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15420609899998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:34.24, Y:-15.51, Z:52.52 [[-3.03685147e-01 -8.88181336e-01 -3.44832200e-01 3.42412835e+01] [ 5.85261006e-01 -4.59491860e-01 6.68084415e-01 -1.55133574e+01] [-7.51827697e-01 1.07047369e-03 6.59358755e-01 5.25201200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18420609899998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:33.86, Y:-15.60, Z:52.22 [[ 0.6646327 -0.42453326 -0.61484541 33.85880071] [ 0.74451993 0.3070476 0.59280001 -15.60218943] [ -0.06287652 -0.85175893 0.52014735 52.21756651] [ 0. 0. 0. 1. ]] SLAMing on 119.21420609899998 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:34.44, Y:-15.46, Z:52.44 [[ -0.48114425 0.71769643 0.50340048 34.43744923] [ -0.09006114 0.53073143 -0.84274145 -15.46032982] [ -0.87200298 -0.45081702 -0.19072182 52.43856337] [ 0. 0. 0. 1. ]] SLAMing on 119.24420609899998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:34.58, Y:-15.32, Z:51.97 [[-7.65712135e-01 -2.41816014e-01 5.95994918e-01 3.45775391e+01] [-6.43176450e-01 2.83562161e-01 -7.11278114e-01 -1.53157870e+01] [ 2.99683185e-03 -9.27964178e-01 -3.72657353e-01 5.19709406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27420609899998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:34.22, Y:-15.49, Z:51.58 [[ 0.06299422 -0.89852449 0.43437941 34.21819121] [ -0.60913568 -0.37938679 -0.69643334 -15.48543257] [ 0.79056022 -0.22072472 -0.5712225 51.58089186] [ 0. 0. 0. 1. ]] SLAMing on 119.30420609899998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:33.90, Y:-15.91, Z:51.77 [[ 9.27564301e-01 -3.00341501e-01 2.22304858e-01 3.39046368e+01] [ 1.79839572e-02 -5.58361201e-01 -8.29403006e-01 -1.59063342e+01] [ 3.73230551e-01 7.73322541e-01 -5.12514589e-01 5.17677784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33420609899999 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:34.35, Y:-16.00, Z:52.31 [[-3.89284974e-02 8.74750231e-01 4.83007873e-01 3.43511992e+01] [ 1.45845199e-01 4.83171830e-01 -8.63292627e-01 -1.60022381e+01] [-9.88541223e-01 3.68376948e-02 -1.46387275e-01 5.23057046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36420609899997 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:34.70, Y:-15.76, Z:51.91 [[-7.36734681e-01 2.71487818e-02 6.75636702e-01 3.46962384e+01] [-6.12966507e-01 3.95026729e-01 -6.84270373e-01 -1.57647157e+01] [-2.85471664e-01 -9.18268385e-01 -2.74388598e-01 5.19060878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39420609899997 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:34.42, Y:-16.08, Z:52.19 [[-1.82902298e-02 8.79007220e-01 4.76457526e-01 3.44192318e+01] [ 8.47307009e-02 4.76185678e-01 -8.75253054e-01 -1.60801021e+01] [-9.96236004e-01 2.43620006e-02 -8.31884434e-02 5.21913855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42420609899997 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:34.79, Y:-15.90, Z:51.79 [[ -0.74417144 0.11322834 0.65832227 34.79024383] [ -0.58684715 0.35995799 -0.72528661 -15.9014909 ] [ -0.31909136 -0.92607213 -0.20142273 51.78541933] [ 0. 0. 0. 1. ]] SLAMing on 119.45420609899998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:34.87, Y:-16.01, Z:51.67 [[ -0.74530748 0.1500422 0.64961843 34.86996788] [ -0.59064436 0.30339832 -0.74772234 -16.00759456] [ -0.30928304 -0.94097651 -0.13750346 51.66920841] [ 0. 0. 0. 1. ]] SLAMing on 119.48420609899998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:34.57, Y:-16.27, Z:51.95 [[ 3.01362833e-02 8.95951076e-01 4.43129184e-01 3.45685070e+01] [-5.12791750e-02 4.44132579e-01 -8.94492425e-01 -1.62657529e+01] [-9.98229558e-01 4.23337813e-03 5.93281373e-02 5.19514611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51420609899998 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:34.58, Y:-16.30, Z:51.95 [[ 3.27711596e-02 8.96806774e-01 4.41207051e-01 3.45845160e+01] [-4.16109950e-02 4.42285644e-01 -8.95908441e-01 -1.63039000e+01] [-9.98596303e-01 1.10008941e-02 5.18112356e-02 5.19473712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54420609899998 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:34.62, Y:-16.36, Z:51.93 [[ 3.19693673e-02 8.99199018e-01 4.36370353e-01 3.46161990e+01] [-4.20711094e-02 4.37417219e-01 -8.98274011e-01 -1.63562949e+01] [-9.98603015e-01 1.03586670e-02 5.18142520e-02 5.19343432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57420609899998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:34.63, Y:-16.40, Z:51.93 [[ 4.38318102e-02 9.01223241e-01 4.31132743e-01 3.46335045e+01] [-3.24168975e-02 4.32603255e-01 -9.01001425e-01 -1.64010000e+01] [-9.98512853e-01 2.55165375e-02 4.81766452e-02 5.19255003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60420609899998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:35.04, Y:-16.27, Z:51.48 [[ -0.76468864 0.09991161 0.63660738 35.03615741] [ -0.61023079 0.20514586 -0.76520164 -16.27103583] [ -0.2070499 -0.97361843 -0.09590357 51.48063762] [ 0. 0. 0. 1. ]] SLAMing on 119.63420609899998 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:34.77, Y:-16.48, Z:50.99 [[ -0.14729128 -0.83497413 0.53021079 34.76702482] [ -0.49394408 -0.40233323 -0.77080946 -16.47967284] [ 0.85692737 -0.37542799 -0.35317035 50.99357274] [ 0. 0. 0. 1. ]] SLAMing on 119.66420609899998 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:34.40, Y:-16.88, Z:51.18 [[ 0.84730092 -0.4430345 0.29291909 34.39631238] [ 0.09153878 -0.42144934 -0.9022201 -16.87568956] [ 0.52316518 0.79126537 -0.31653957 51.18002912] [ 0. 0. 0. 1. ]] SLAMing on 119.69420609899998 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:34.75, Y:-16.86, Z:51.80 [[ 8.09912144e-02 8.60821542e-01 5.02420836e-01 3.47544644e+01] [-4.79620821e-02 5.06858822e-01 -8.60693774e-01 -1.68569389e+01] [-9.95560175e-01 4.56114846e-02 8.23379050e-02 5.17996684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72420609899999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:35.16, Y:-16.72, Z:51.42 [[-6.88275543e-01 2.25484088e-01 6.89517007e-01 3.51604724e+01] [-6.41873301e-01 2.53617828e-01 -7.23655072e-01 -1.67166081e+01] [-3.38046509e-01 -9.40656645e-01 -2.98267322e-02 5.14213161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75420609899997 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:35.01, Y:-16.90, Z:50.91 [[ -0.31400742 -0.70429184 0.63668858 35.01179294] [ -0.57179418 -0.39506182 -0.71901153 -16.89897055] [ 0.7579253 -0.58982978 -0.27865763 50.91073638] [ 0. 0. 0. 1. ]] SLAMing on 119.78420609899997 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:34.60, Y:-17.33, Z:51.00 [[ 0.72751811 -0.55387098 0.4049004 34.60008596] [ 0.10596963 -0.49236188 -0.86391563 -17.32976007] [ 0.67785532 0.67142141 -0.29950869 50.99789704] [ 0. 0. 0. 1. ]] SLAMing on 119.81420609899997 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:34.91, Y:-17.28, Z:51.69 [[ 1.04814025e-01 8.15218851e-01 5.69589541e-01 3.49125635e+01] [-8.93033247e-02 5.78145829e-01 -8.11031637e-01 -1.72848546e+01] [-9.90474097e-01 3.41412505e-02 1.33399545e-01 5.16886351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84420609899998 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:35.29, Y:-17.10, Z:51.27 [[-6.36630803e-01 1.09199803e-01 7.63398076e-01 3.52910624e+01] [-7.48197375e-01 1.52351762e-01 -6.45747341e-01 -1.71013050e+01] [-1.86820525e-01 -9.82275086e-01 -1.52888189e-02 5.12748763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.87420609899998 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:34.99, Y:-17.37, Z:51.61 [[ 1.24647204e-01 8.21030009e-01 5.57111119e-01 3.49946959e+01] [-1.51964737e-01 5.70662760e-01 -8.07001074e-01 -1.73692436e+01] [-9.80494668e-01 1.59291832e-02 1.95899127e-01 5.16126912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90420609899998 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:35.40, Y:-17.23, Z:51.22 [[ -0.63656734 0.21318437 0.74117099 35.40443788] [ -0.73154202 0.1373798 -0.66781214 -17.23399213] [ -0.24418903 -0.96730513 0.06850183 51.21676453] [ 0. 0. 0. 1. ]] SLAMing on 119.93420609899998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:35.09, Y:-17.48, Z:51.53 [[ 1.58101509e-01 8.28822492e-01 5.36709595e-01 3.50932107e+01] [-2.09902858e-01 5.59333217e-01 -8.01927143e-01 -1.74763954e+01] [-9.64854757e-01 1.41290137e-02 2.62403636e-01 5.15272957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96420609899998 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:35.12, Y:-17.50, Z:51.53 [[ 1.44173473e-01 8.30038229e-01 5.38749058e-01 3.51182721e+01] [-2.21017373e-01 5.57694075e-01 -8.00080396e-01 -1.75002405e+01] [-9.64554473e-01 -3.72253237e-03 2.63857560e-01 5.15262378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99420609899998 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:35.14, Y:-17.53, Z:51.53 [[ 1.44359687e-01 8.30197854e-01 5.38453159e-01 3.51355256e+01] [-2.16448417e-01 5.57468213e-01 -8.01485667e-01 -1.75271301e+01] [-9.65562201e-01 -8.45114048e-04 2.60170948e-01 5.15272756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02420609899998 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:35.15, Y:-17.55, Z:51.52 [[ 1.46232610e-01 8.30604766e-01 5.37319036e-01 3.51547411e+01] [-2.24773640e-01 5.56849121e-01 -7.99622328e-01 -1.75539150e+01] [-9.63375749e-01 -3.84429594e-03 2.68127557e-01 5.15238224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05420609899998 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:35.17, Y:-17.58, Z:51.52 [[ 1.51077878e-01 8.31024767e-01 5.35325426e-01 3.51695799e+01] [-2.16222807e-01 5.56208434e-01 -8.02421258e-01 -1.75833422e+01] [-9.64584456e-01 5.47853467e-03 2.63717298e-01 5.15249604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08420609899999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:35.19, Y:-17.61, Z:51.52 [[ 1.43116908e-01 8.32016636e-01 5.35971891e-01 3.51920255e+01] [-2.30814902e-01 5.54672710e-01 -7.99413951e-01 -1.76060420e+01] [-9.62414688e-01 -9.30064646e-03 2.71424882e-01 5.15215369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11420609899997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:35.21, Y:-17.63, Z:51.52 [[ 1.51924878e-01 8.31997763e-01 5.33571508e-01 3.52067802e+01] [-2.24518196e-01 5.54775678e-01 -8.01133901e-01 -1.76340847e+01] [-9.62554108e-01 1.91565722e-03 2.71082864e-01 5.15219267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14420609899997 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:35.23, Y:-17.66, Z:51.52 [[ 1.38277320e-01 8.32590843e-01 5.36350512e-01 3.52312187e+01] [-2.37813208e-01 5.53621598e-01 -7.98090223e-01 -1.76559848e+01] [-9.61417839e-01 -1.71934585e-02 2.74554410e-01 5.15229504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17420609899997 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:35.25, Y:-17.68, Z:51.52 [[ 1.34194359e-01 8.33894652e-01 5.35361171e-01 3.52513566e+01] [-2.40693812e-01 5.51497774e-01 -7.98696873e-01 -1.76833328e+01] [-9.61279545e-01 -2.16775064e-02 2.74721173e-01 5.15244687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20420609899998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:35.26, Y:-17.72, Z:51.53 [[ 1.54065550e-01 8.33688844e-01 5.30308135e-01 3.52594986e+01] [-2.19927616e-01 5.52186634e-01 -8.04190130e-01 -1.77155253e+01] [-9.63273403e-01 7.26859092e-03 2.68424138e-01 5.15263812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.23420609899998 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:35.28, Y:-17.74, Z:51.52 [[ 1.61853881e-01 8.33747217e-01 5.27890992e-01 3.52755292e+01] [-2.25196238e-01 5.52035499e-01 -8.02834642e-01 -1.77410074e+01] [-9.60775716e-01 1.10628367e-02 2.77105825e-01 5.15212368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.31, Y:-17.76, Z:51.52 [[ 1.26688376e-01 8.34993233e-01 5.35477689e-01 3.53100411e+01] [-2.51699525e-01 5.49219598e-01 -7.96872124e-01 -1.77602398e+01] [-9.59477673e-01 -3.38250445e-02 2.79747140e-01 5.15239383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29420609899998 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:35.31, Y:-17.80, Z:51.52 [[ 1.73935395e-01 8.34767050e-01 5.22408318e-01 3.53055540e+01] [-2.21614927e-01 5.50067878e-01 -8.05178336e-01 -1.77967696e+01] [-9.59496380e-01 2.42755307e-02 2.80673113e-01 5.15195978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32420609899998 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:35.34, Y:-17.82, Z:51.52 [[ 1.32929625e-01 8.36936562e-01 5.30911391e-01 3.53429587e+01] [-2.47460113e-01 5.46726436e-01 -7.99908555e-01 -1.78161057e+01] [-9.59736009e-01 -2.50478484e-02 2.79784556e-01 5.15232335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35420609899998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:35.35, Y:-17.85, Z:51.52 [[ 1.52317800e-01 8.37861645e-01 5.24201441e-01 3.53529131e+01] [-2.36114472e-01 5.45881044e-01 -8.03905369e-01 -1.78493584e+01] [-9.59713105e-01 -1.32244931e-03 2.80978660e-01 5.15239864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38420609899998 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:35.37, Y:-17.87, Z:51.52 [[ 1.60159639e-01 8.37484249e-01 5.22464374e-01 3.53652355e+01] [-2.28675353e-01 5.46377686e-01 -8.05716456e-01 -1.78740286e+01] [-9.60237717e-01 9.56853130e-03 2.79019659e-01 5.15226850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41420609899998 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:35.49, Y:-17.95, Z:51.52 [[ 1.10067103e-01 8.57696440e-01 5.02237046e-01 3.54876898e+01] [-2.65685636e-01 5.12308829e-01 -8.16670562e-01 -1.79454795e+01] [-9.57755906e-01 -4.35486062e-02 2.84265973e-01 5.15203326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44420609899998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:35.50, Y:-17.98, Z:51.52 [[ 1.17890999e-01 8.58191286e-01 4.99609276e-01 3.55039543e+01] [-2.62073319e-01 5.12168813e-01 -8.17924619e-01 -1.79768645e+01] [-9.57820071e-01 -3.45083108e-02 2.85289132e-01 5.15241804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47420609899999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:35.51, Y:-18.01, Z:51.52 [[ 1.48306067e-01 8.58493916e-01 4.90910895e-01 3.55061243e+01] [-2.44178010e-01 5.12819063e-01 -8.23039312e-01 -1.80105805e+01] [-9.58322707e-01 2.19207817e-03 2.85679514e-01 5.15214417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50420609899997 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:35.53, Y:-18.04, Z:51.52 [[ 1.38914466e-01 8.59340028e-01 4.92176276e-01 3.55295084e+01] [-2.52551518e-01 5.11303159e-01 -8.21454083e-01 -1.80376577e+01] [-9.57559660e-01 -1.01880103e-02 2.88055034e-01 5.15215585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53420609899997 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:35.55, Y:-18.06, Z:51.52 [[ 1.35805864e-01 8.59851305e-01 4.92150891e-01 3.55489068e+01] [-2.57430447e-01 5.10316473e-01 -8.20552657e-01 -1.80635594e+01] [-9.56705980e-01 -1.52587616e-02 2.90655875e-01 5.15210667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56420609899997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:35.58, Y:-18.08, Z:51.52 [[ 1.10158137e-01 8.60417050e-01 4.97541642e-01 3.55775012e+01] [-2.70897788e-01 5.07627420e-01 -8.17880670e-01 -1.80846666e+01] [-9.56284253e-01 -4.46867192e-02 2.89004366e-01 5.15241063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.59420609899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:35.59, Y:-18.12, Z:51.53 [[ 1.30879532e-01 8.60905084e-01 4.91643147e-01 3.55865611e+01] [-2.60468746e-01 5.08347179e-01 -8.20816166e-01 -1.81174582e+01] [-9.56570217e-01 -2.06296388e-02 2.90771109e-01 5.15257136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62420609899998 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] Translation: X:35.60, Y:-18.15, Z:51.53 [[ 1.45063141e-01 8.61378908e-01 4.86809062e-01 3.55973590e+01] [-2.54804009e-01 5.07941439e-01 -8.22842884e-01 -1.81484337e+01] [-9.56050000e-01 -4.67672671e-03 2.93166379e-01 5.15250233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65420609899998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:35.62, Y:-18.17, Z:51.53 [[ 1.30930613e-01 8.61503122e-01 4.90580824e-01 3.56222483e+01] [-2.69533697e-01 5.07134299e-01 -8.18636909e-01 -1.81722442e+01] [-9.54048616e-01 -2.50434306e-02 2.98603526e-01 5.15257403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68420609899998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:35.63, Y:-18.21, Z:51.53 [[ 1.52446660e-01 8.61581696e-01 4.84186945e-01 3.56304710e+01] [-2.56863292e-01 5.07617943e-01 -8.22402136e-01 -1.82062630e+01] [-9.54348608e-01 1.00260676e-03 2.98693371e-01 5.15272588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71420609899998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:35.65, Y:-18.23, Z:51.53 [[ 1.49778234e-01 8.62388347e-01 4.83583311e-01 3.56482743e+01] [-2.58220317e-01 5.06244685e-01 -8.22823545e-01 -1.82339259e+01] [-9.54404919e-01 -1.62997862e-03 2.98510627e-01 5.15283620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74420609899998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:35.66, Y:-18.26, Z:51.53 [[ 1.51896263e-01 8.62293475e-01 4.83091595e-01 3.56641696e+01] [-2.56062161e-01 5.06407038e-01 -8.23397888e-01 -1.82624654e+01] [-9.54651609e-01 1.36958448e-03 2.97722068e-01 5.15298396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77420609899998 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:35.67, Y:-18.30, Z:51.53 [[ 1.78615085e-01 8.61211446e-01 4.75827171e-01 3.56703434e+01] [-2.42388091e-01 5.07213979e-01 -8.27032038e-01 -1.82969197e+01] [-9.53595651e-01 3.23855587e-02 2.99343466e-01 5.15278986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80420609899998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:35.71, Y:-18.31, Z:51.53 [[ 1.25493096e-01 8.62613873e-01 4.90049782e-01 3.57099787e+01] [-2.70208571e-01 5.04999419e-01 -8.19733442e-01 -1.83128128e+01] [-9.54588294e-01 -2.95447640e-02 2.96459603e-01 5.15311161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83420609899999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:35.71, Y:-18.35, Z:51.53 [[ 1.54697054e-01 8.62789727e-01 4.81313524e-01 3.57147016e+01] [-2.54078449e-01 5.05535539e-01 -8.24547124e-01 -1.83482285e+01] [-9.54731880e-01 5.26361760e-03 2.97421134e-01 5.15327952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86420609899997 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:35.73, Y:-18.38, Z:51.53 [[ 1.56283234e-01 8.62784995e-01 4.80809321e-01 3.57307290e+01] [-2.52197506e-01 5.05512430e-01 -8.25138534e-01 -1.83769337e+01] [-9.54972234e-01 7.69640710e-03 2.96595342e-01 5.15335593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89420609899997 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:35.74, Y:-18.41, Z:51.53 [[ 1.65726547e-01 8.62489781e-01 4.78169519e-01 3.57426393e+01] [-2.48030247e-01 5.05742314e-01 -8.26260073e-01 -1.84063484e+01] [-9.54471429e-01 1.83327252e-02 2.97738481e-01 5.15324300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92420609899997 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:35.78, Y:-18.43, Z:51.54 [[ 1.28976169e-01 8.64127208e-01 4.86466151e-01 3.57756573e+01] [-2.66338442e-01 5.02724709e-01 -8.22393884e-01 -1.84268526e+01] [-9.55211486e-01 -2.34954237e-02 2.94989802e-01 5.15353682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.95420609899998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:35.78, Y:-18.46, Z:51.54 [[ 1.56497812e-01 8.63751944e-01 4.79000014e-01 3.57821811e+01] [-2.50818748e-01 5.03832943e-01 -8.26584733e-01 -1.84622148e+01] [-9.55300157e-01 9.21651889e-03 2.95493934e-01 5.15374351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98420609899998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:35.79, Y:-18.49, Z:51.53 [[ 1.73429196e-01 8.62975897e-01 4.74547064e-01 3.57920215e+01] [-2.44154041e-01 5.04481426e-01 -8.28183129e-01 -1.84941435e+01] [-9.54102258e-01 2.77685503e-02 2.98190861e-01 5.15346355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01420609899998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:35.83, Y:-18.51, Z:51.54 [[ 1.23329469e-01 8.65605291e-01 4.85301270e-01 3.58316546e+01] [-2.75488715e-01 4.99676813e-01 -8.21236294e-01 -1.85118329e+01] [-9.53360273e-01 -3.24123869e-02 3.00089366e-01 5.15373610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04420609899998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:35.84, Y:-18.54, Z:51.54 [[ 1.45271338e-01 8.65763766e-01 4.78904313e-01 3.58383531e+01] [-2.57813121e-01 5.00441334e-01 -8.26493113e-01 -1.85446897e+01] [-9.55211303e-01 -3.40205459e-03 2.95905040e-01 5.15418992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07420609899998 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:35.85, Y:-18.57, Z:51.54 [[ 1.53093858e-01 8.65561166e-01 4.76829255e-01 3.58532807e+01] [-2.59183152e-01 5.00795133e-01 -8.25850064e-01 -1.85744755e+01] [-9.53617515e-01 2.84646363e-03 3.01007530e-01 5.15401608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10420609899998 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:35.86, Y:-18.61, Z:51.54 [[ 1.72641600e-01 8.64948730e-01 4.71230912e-01 3.58611866e+01] [-2.51362525e-01 5.01262134e-01 -8.27981373e-01 -1.86061220e+01] [-9.52371650e-01 2.44942371e-02 3.03954393e-01 5.15383010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13420609899998 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:35.90, Y:-18.62, Z:51.54 [[ 1.23798784e-01 8.67720759e-01 4.81388145e-01 3.58998656e+01] [-2.81886565e-01 4.95886870e-01 -8.21362390e-01 -1.86233000e+01] [-9.51427257e-01 -3.40131854e-02 3.05989016e-01 5.15412126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16420609899998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:35.91, Y:-18.66, Z:51.54 [[ 1.48259739e-01 8.68719227e-01 4.72594916e-01 3.59062833e+01] [-2.69948923e-01 4.95278042e-01 -8.25728309e-01 -1.86577061e+01] [-9.51391943e-01 -5.15422537e-03 3.07939613e-01 5.15447191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19420609899998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:35.92, Y:-18.69, Z:51.54 [[ 1.61932626e-01 8.68563430e-01 4.68375270e-01 3.59163559e+01] [-2.61256498e-01 4.95437922e-01 -8.28423990e-01 -1.86879928e+01] [-9.51589653e-01 1.17827900e-02 3.07145403e-01 5.15439733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22420609899997 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:35.94, Y:-18.71, Z:51.54 [[ 1.37488198e-01 8.69154110e-01 4.75045395e-01 3.59431784e+01] [-2.77370271e-01 4.94195753e-01 -8.23915220e-01 -1.87101270e+01] [-9.50874717e-01 -1.84848508e-02 3.09023595e-01 5.15441460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25420609899997 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:35.96, Y:-18.74, Z:51.55 [[ 1.29545807e-01 8.69630975e-01 4.76403034e-01 3.59644114e+01] [-2.86764819e-01 4.92778502e-01 -8.21544452e-01 -1.87365230e+01] [-9.49201676e-01 -3.01879902e-02 3.13216958e-01 5.15466222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28420609899997 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:35.97, Y:-18.77, Z:51.55 [[ 1.55452666e-01 8.69548593e-01 4.68742695e-01 3.59708819e+01] [-2.74523854e-01 4.93847211e-01 -8.25076715e-01 -1.87715026e+01] [-9.48931569e-01 -4.20676517e-04 3.15481696e-01 5.15479516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.31420609899997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:35.99, Y:-18.80, Z:51.55 [[ 1.57475912e-01 8.69552675e-01 4.68059272e-01 3.59878285e+01] [-2.73475213e-01 4.93836221e-01 -8.25431460e-01 -1.88008401e+01] [-9.48900756e-01 1.98296281e-03 3.15568413e-01 5.15495191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34420609899998 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:36.00, Y:-18.83, Z:51.55 [[ 1.57695129e-01 8.69935414e-01 4.67273604e-01 3.60046896e+01] [-2.74284981e-01 4.93161523e-01 -8.25566146e-01 -1.88299527e+01] [-9.48630589e-01 2.02162825e-03 3.16379389e-01 5.15501524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.37420609899998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:36.02, Y:-18.86, Z:51.55 [[ 1.58496138e-01 8.70237679e-01 4.66439016e-01 3.60216506e+01] [-2.76047485e-01 4.92627842e-01 -8.25297277e-01 -1.88589958e+01] [-9.47985633e-01 2.04711345e-03 3.18306533e-01 5.15505148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40420609899998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:36.04, Y:-18.89, Z:51.55 [[ 1.59515160e-01 8.70319145e-01 4.65939374e-01 3.60384859e+01] [-2.74440621e-01 4.92472915e-01 -8.25925404e-01 -1.88877739e+01] [-9.48281213e-01 3.87493183e-03 3.17407823e-01 5.15531402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43420609899998 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:36.06, Y:-18.92, Z:51.55 [[ 1.57181317e-01 8.71272977e-01 4.64948849e-01 3.60559211e+01] [-2.78328218e-01 4.90798601e-01 -8.25621061e-01 -1.89153669e+01] [-9.47537565e-01 3.63821012e-04 3.19644226e-01 5.15530909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46420609899998 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:36.07, Y:-18.94, Z:51.56 [[ 1.52177956e-01 8.71789802e-01 4.65644081e-01 3.60726670e+01] [-2.74977647e-01 4.89875427e-01 -8.27290372e-01 -1.89422808e+01] [-9.49330903e-01 -2.14635541e-03 3.14270950e-01 5.15572274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49420609899998 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:36.10, Y:-18.97, Z:51.56 [[ 1.34994803e-01 8.72469380e-01 4.69652621e-01 3.60956967e+01] [-2.85532166e-01 4.88138206e-01 -8.24737821e-01 -1.89658045e+01] [-9.48813883e-01 -2.27656100e-02 3.15014193e-01 5.15583074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.11, Y:-19.00, Z:51.56 [[ 1.50169804e-01 8.72186604e-01 4.65552958e-01 3.61052943e+01] [-2.77910411e-01 4.89145348e-01 -8.26742180e-01 -1.89959020e+01] [-9.48796519e-01 -5.23030254e-03 3.15844598e-01 5.15574136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55420609899998 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:36.12, Y:-19.02, Z:51.55 [[ 1.50256281e-01 8.72740355e-01 4.64486085e-01 3.61230065e+01] [-2.93018985e-01 4.88022915e-01 -8.22176081e-01 -1.90227750e+01] [-9.44226098e-01 -1.25661210e-02 3.29058001e-01 5.15528920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58420609899999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:36.15, Y:-19.05, Z:51.56 [[ 1.28159655e-01 8.73659254e-01 4.69355528e-01 3.61467309e+01] [-2.93393859e-01 4.85474237e-01 -8.23550125e-01 -1.90469211e+01] [-9.47362204e-01 -3.21601298e-02 3.18544470e-01 5.15594907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61420609899997 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:36.15, Y:-19.08, Z:51.56 [[ 1.50971657e-01 8.73553755e-01 4.62721727e-01 3.61533456e+01] [-2.85182865e-01 4.86672946e-01 -8.25724032e-01 -1.90800955e+01] [-9.46508474e-01 -7.29938278e-03 3.22596384e-01 5.15568314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64420609899997 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:36.18, Y:-19.10, Z:51.56 [[ 1.28890328e-01 8.74800539e-01 4.67023875e-01 3.61803439e+01] [-3.03246120e-01 4.83161665e-01 -8.21338296e-01 -1.91032689e+01] [-9.44155217e-01 -3.57606159e-02 3.27554735e-01 5.15570669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67420609899997 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:36.18, Y:-19.14, Z:51.56 [[ 1.70355943e-01 8.74140546e-01 4.54815522e-01 3.61772021e+01] [-2.77090977e-01 4.85434063e-01 -8.29201038e-01 -1.91408055e+01] [-9.45621194e-01 1.52340476e-02 3.24913035e-01 5.15570245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70420609899998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:36.21, Y:-19.16, Z:51.56 [[ 1.36498959e-01 8.75532568e-01 4.63476813e-01 3.62071821e+01] [-2.96863760e-01 4.82506311e-01 -8.24050707e-01 -1.91608318e+01] [-9.45113719e-01 -2.51074061e-02 3.25775499e-01 5.15584046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.73420609899998 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:36.22, Y:-19.19, Z:51.56 [[ 1.35908886e-01 8.76103833e-01 4.62569832e-01 3.62236929e+01] [-2.97704951e-01 4.81438605e-01 -8.24371659e-01 -1.91882487e+01] [-9.44934144e-01 -2.56698957e-02 3.26252233e-01 5.15600747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76420609899998 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:36.24, Y:-19.22, Z:51.56 [[ 1.41968410e-01 8.75344106e-01 4.62187913e-01 3.62395523e+01] [-3.03360852e-01 4.82924550e-01 -8.21435373e-01 -1.92152541e+01] [-9.42240502e-01 -2.35918448e-02 3.34105165e-01 5.15589110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79420609899998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:36.26, Y:-19.24, Z:51.56 [[ 1.37866006e-01 8.76644725e-01 4.60963111e-01 3.62578274e+01] [-3.00981561e-01 4.80479158e-01 -8.23741390e-01 -1.92439300e+01] [-9.43611713e-01 -2.51754615e-02 3.30095640e-01 5.15620578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82420609899998 meters Centerline goodness : 0.999931 Centerline is valid? [True, True] Translation: X:36.27, Y:-19.28, Z:51.56 [[ 1.58175653e-01 8.76948750e-01 4.53807617e-01 3.62651031e+01] [-2.92379804e-01 4.80580116e-01 -8.26774940e-01 -1.92769912e+01] [-9.43130168e-01 -1.90851592e-03 3.32418177e-01 5.15615244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85420609899998 meters Centerline goodness : 0.999864 Centerline is valid? [True, True] Translation: X:36.29, Y:-19.30, Z:51.56 [[ 1.46591143e-01 8.76914607e-01 4.57746445e-01 3.62861846e+01] [-3.00562511e-01 4.80352682e-01 -8.23968129e-01 -1.93016352e+01] [-9.42429421e-01 -1.67949916e-02 3.33983105e-01 5.15633799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88420609899998 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:36.30, Y:-19.33, Z:51.56 [[ 1.54194152e-01 8.77004013e-01 4.55069363e-01 3.62988435e+01] [-2.95517082e-01 4.80429766e-01 -8.25746265e-01 -1.93309366e+01] [-9.42811656e-01 -7.15552507e-03 3.33249127e-01 5.15641684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91420609899998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:36.31, Y:-19.36, Z:51.56 [[ 1.56760090e-01 8.77642363e-01 4.52957124e-01 3.63147757e+01] [-2.99918468e-01 4.79271308e-01 -8.24832059e-01 -1.93588812e+01] [-9.40996911e-01 -6.54945913e-03 3.38351767e-01 5.15606173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94420609899998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:36.34, Y:-19.38, Z:51.56 [[ 1.43170784e-01 8.76824445e-01 4.59000020e-01 3.63372528e+01] [-2.99037661e-01 4.80426481e-01 -8.24479760e-01 -1.93837820e+01] [-9.43439772e-01 -1.92168788e-02 3.30986567e-01 5.15591062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97420609899997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:36.36, Y:-19.41, Z:51.56 [[ 1.37230064e-01 8.78576760e-01 4.57461240e-01 3.63551816e+01] [-3.03327006e-01 4.76917133e-01 -8.24950166e-01 -1.94113521e+01] [-9.42953147e-01 -2.55523839e-02 3.31943427e-01 5.15607235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00420609899997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:36.36, Y:-19.45, Z:51.56 [[ 1.68670678e-01 8.78128548e-01 4.47705769e-01 3.63560693e+01] [-2.79460673e-01 4.78179367e-01 -8.32614092e-01 -1.94473233e+01] [-9.45225864e-01 1.53214277e-02 3.26057233e-01 5.15609264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03420609899997 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:36.38, Y:-19.47, Z:51.56 [[ 1.45786123e-01 8.79505409e-01 4.53008434e-01 3.63815794e+01] [-2.93742152e-01 4.75732546e-01 -8.29092331e-01 -1.94699186e+01] [-9.44702045e-01 -1.21975156e-02 3.27703015e-01 5.15615481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06420609899997 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:36.41, Y:-19.50, Z:51.56 [[ 1.30699141e-01 8.80185532e-01 4.56279699e-01 3.64057869e+01] [-3.10289086e-01 4.73422340e-01 -8.24373684e-01 -1.94953094e+01] [-9.41614793e-01 -3.38336791e-02 3.34987857e-01 5.15620093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.09420609899998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:36.39, Y:-19.54, Z:51.56 [[ 1.94159826e-01 8.77135264e-01 4.39244453e-01 3.63947763e+01] [-2.75534418e-01 4.78502786e-01 -8.33736090e-01 -1.95360305e+01] [-9.41479021e-01 4.08510896e-02 3.34586973e-01 5.15618032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12420609899998 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:36.81, Y:-19.45, Z:51.20 [[-6.92337028e-01 2.70909643e-01 6.68788012e-01 3.68083007e+01] [-6.96763768e-01 -1.00412565e-02 -7.17230385e-01 -1.94493633e+01] [-1.87589155e-01 -9.62552408e-01 1.95711957e-01 5.11981979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15420609899998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:36.46, Y:-19.61, Z:51.51 [[ 1.86726973e-01 8.84620554e-01 4.27293239e-01 3.64644397e+01] [-3.50616752e-01 4.66307940e-01 -8.12172887e-01 -1.96129634e+01] [-9.17715060e-01 1.83841687e-03 3.97235056e-01 5.15097670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18420609899998 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:36.46, Y:-19.65, Z:51.51 [[ 0.23777928 0.87842649 0.41452131 36.45968385] [ -0.32772769 0.47429096 -0.81709403 -19.65269687] [ -0.91436075 0.05843792 0.40066124 51.51010326] [ 0. 0. 0. 1. ]] SLAMing on 122.21420609899998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:36.49, Y:-19.67, Z:51.51 [[ 2.06946332e-01 8.82791097e-01 4.21726328e-01 3.64870504e+01] [-3.45175415e-01 4.69219805e-01 -8.12826370e-01 -1.96734633e+01] [-9.15438228e-01 2.26418752e-02 4.01821101e-01 5.15143428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24420609899998 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:36.50, Y:-19.70, Z:51.52 [[ 2.03282483e-01 8.83230500e-01 4.22587407e-01 3.65020335e+01] [-3.43996233e-01 4.68510297e-01 -8.13735026e-01 -1.97008894e+01] [-9.16702145e-01 2.00496007e-02 3.99067902e-01 5.15196828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27420609899998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:36.52, Y:-19.73, Z:51.52 [[ 1.98349163e-01 8.83743669e-01 4.23856977e-01 3.65194807e+01] [-3.48678942e-01 4.67782222e-01 -8.12159337e-01 -1.97290776e+01] [-9.16013431e-01 1.33011229e-02 4.00927020e-01 5.15242932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30420609899998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:36.54, Y:-19.75, Z:51.53 [[ 1.84716589e-01 8.85096991e-01 4.27180405e-01 3.65398212e+01] [-3.52098826e-01 4.65406433e-01 -8.12048809e-01 -1.97537085e+01] [-9.17554466e-01 -4.10832776e-04 3.97609900e-01 5.15304899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33420609899999 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:36.55, Y:-19.78, Z:51.54 [[ 1.92025295e-01 8.84396616e-01 4.25404410e-01 3.65518380e+01] [-3.50401494e-01 4.66685555e-01 -8.12048881e-01 -1.97832722e+01] [-9.16703376e-01 6.87158491e-03 3.99509326e-01 5.15364113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36420609899997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:36.57, Y:-19.81, Z:51.54 [[ 1.97387757e-01 8.84009071e-01 4.23752328e-01 3.65653453e+01] [-3.47847110e-01 4.67287952e-01 -8.12800319e-01 -1.98135131e+01] [-9.16537212e-01 1.30358091e-02 3.99736922e-01 5.15409489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39420609899997 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:36.58, Y:-19.84, Z:51.55 [[ 1.97753888e-01 8.84060378e-01 4.23474496e-01 3.65806607e+01] [-3.45719145e-01 4.67146899e-01 -8.13788700e-01 -1.98424195e+01] [-9.17263143e-01 1.45266384e-02 3.98016713e-01 5.15473399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42420609899997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:36.60, Y:-19.87, Z:51.55 [[ 1.97337912e-01 8.84339986e-01 4.23084552e-01 3.65966399e+01] [-3.46109231e-01 4.66627910e-01 -8.13920631e-01 -1.98715720e+01] [-9.17205620e-01 1.41839285e-02 3.98161610e-01 5.15514979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.45420609899998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:36.61, Y:-19.90, Z:51.56 [[ 1.97177168e-01 8.84558552e-01 4.22702416e-01 3.66122239e+01] [-3.46200890e-01 4.66213398e-01 -8.14119163e-01 -1.99008400e+01] [-9.17205598e-01 1.41857581e-02 3.98161595e-01 5.15563531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48420609899998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:36.63, Y:-19.93, Z:51.56 [[ 1.92504218e-01 8.85654894e-01 4.22560688e-01 3.66282177e+01] [-3.45834706e-01 4.64217645e-01 -8.15414210e-01 -1.99292678e+01] [-9.18335713e-01 1.08345232e-02 3.95654055e-01 5.15621313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51420609899998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:36.64, Y:-19.96, Z:51.57 [[ 1.92305512e-01 8.85872940e-01 4.22193941e-01 3.66437797e+01] [-3.45943825e-01 4.63802452e-01 -8.15604166e-01 -1.99585484e+01] [-9.18336245e-01 1.07897900e-02 3.95654042e-01 5.15669866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54420609899998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:36.66, Y:-19.99, Z:51.57 [[ 1.94043824e-01 8.85677765e-01 4.21807884e-01 3.66593179e+01] [-3.43602779e-01 4.64104506e-01 -8.16421544e-01 -1.99864963e+01] [-9.18849348e-01 1.34871978e-02 3.94377954e-01 5.15738477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57420609899998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:36.68, Y:-20.02, Z:51.58 [[ 1.93798645e-01 8.85994859e-01 4.21254313e-01 3.66750363e+01] [-3.43740595e-01 4.63499241e-01 -8.16707326e-01 -2.00157031e+01] [-9.18849546e-01 1.34745650e-02 3.94377924e-01 5.15787038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60420609899998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:36.69, Y:-20.04, Z:51.58 [[ 1.93564324e-01 8.86310531e-01 4.20697629e-01 3.66907303e+01] [-3.43872563e-01 4.62895322e-01 -8.16994236e-01 -2.00449229e+01] [-9.18849560e-01 1.34745652e-02 3.94377894e-01 5.15835599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63420609899998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:36.71, Y:-20.07, Z:51.59 [[ 1.90668593e-01 8.87148574e-01 4.20253370e-01 3.67068267e+01] [-3.44653605e-01 4.61351918e-01 -8.17537950e-01 -2.00730406e+01] [-9.19162325e-01 1.10369717e-02 3.93724276e-01 5.15885862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66420609899998 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:36.72, Y:-20.10, Z:51.59 [[ 1.97839045e-01 8.86767785e-01 4.17735093e-01 3.67198008e+01] [-3.48121383e-01 4.61939520e-01 -8.15734873e-01 -2.01020597e+01] [-9.16335755e-01 1.59616899e-02 4.00092501e-01 5.15903204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69420609899998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:36.74, Y:-20.13, Z:51.60 [[ 1.77867328e-01 8.88710664e-01 4.22559545e-01 3.67427028e+01] [-3.51865928e-01 4.58454916e-01 -8.16094026e-01 -2.01265899e+01] [-9.18995964e-01 -3.52784315e-03 3.94251153e-01 5.15991415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72420609899997 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:36.75, Y:-20.16, Z:51.60 [[ 2.02590395e-01 8.85686666e-01 4.17751436e-01 3.67465120e+01] [-3.34972227e-01 4.63540586e-01 -8.20319287e-01 -2.01617898e+01] [-9.20190599e-01 2.62536797e-02 3.90589305e-01 5.16049806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.78, Y:-20.18, Z:51.61 [[ 1.69455416e-01 8.89779316e-01 4.23766011e-01 3.67761825e+01] [-3.54840880e-01 4.56230996e-01 -8.16052221e-01 -2.01811532e+01] [-9.19441576e-01 -1.20850357e-02 3.93040889e-01 5.16083008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78420609899997 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:36.79, Y:-20.21, Z:51.61 [[ 1.67471064e-01 8.91222777e-01 4.21515604e-01 3.67922398e+01] [-3.56964510e-01 4.53359236e-01 -8.16726234e-01 -2.02108698e+01] [-9.18983015e-01 -1.36880998e-02 3.94059456e-01 5.16140376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.81420609899997 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:36.80, Y:-20.24, Z:51.61 [[ 1.91122101e-01 8.90194069e-01 4.13553941e-01 3.67981439e+01] [-3.49191879e-01 4.55420613e-01 -8.18936564e-01 -2.02434458e+01] [-9.17353462e-01 1.21071995e-02 3.97889484e-01 5.16130830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84420609899998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:36.83, Y:-20.26, Z:51.62 [[ 1.48580356e-01 8.93134580e-01 4.24540339e-01 3.68305837e+01] [-3.72400662e-01 4.48235677e-01 -8.12651539e-01 -2.02631538e+01] [-9.16101318e-01 -3.73550483e-02 3.99202926e-01 5.16179391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.87420609899998 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:36.84, Y:-20.29, Z:51.63 [[ 1.52927439e-01 8.93417661e-01 4.22395645e-01 3.68437787e+01] [-3.65975932e-01 4.48233215e-01 -8.15566431e-01 -2.02916008e+01] [-9.17973211e-01 -2.98641539e-02 3.95516519e-01 5.16250046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90420609899998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:36.85, Y:-20.32, Z:51.63 [[ 1.69508036e-01 8.92676226e-01 4.17607688e-01 3.68524821e+01] [-3.59604763e-01 4.50547546e-01 -8.17123812e-01 -2.03243354e+01] [-9.17579119e-01 -1.16646616e-02 3.97382052e-01 5.16320584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93420609899998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:36.86, Y:-20.36, Z:51.64 [[ 1.85105623e-01 8.91715843e-01 4.13011821e-01 3.68611441e+01] [-3.51742464e-01 4.52550316e-01 -8.19436057e-01 -2.03570588e+01] [-9.17612744e-01 6.40842619e-03 3.97423936e-01 5.16371919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96420609899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:36.87, Y:-20.39, Z:51.63 [[ 2.03567895e-01 8.90195506e-01 4.07568490e-01 3.68678440e+01] [-3.43881541e-01 4.54772945e-01 -8.21539442e-01 -2.03882217e+01] [-9.16681841e-01 2.70837740e-02 3.98698973e-01 5.16348472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99420609899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:36.90, Y:-20.41, Z:51.64 [[ 1.62149181e-01 8.94023707e-01 4.17647285e-01 3.68999346e+01] [-3.66993105e-01 4.47525278e-01 -8.15498122e-01 -2.04074262e+01] [-9.15982371e-01 -2.10413216e-02 4.00666394e-01 5.16380776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.92, Y:-20.43, Z:51.65 [[ 1.41613828e-01 8.95642429e-01 4.21627992e-01 3.69242985e+01] [-3.79474182e-01 4.42499396e-01 -8.12523002e-01 -2.04318339e+01] [-9.14300207e-01 -4.49324445e-02 4.02537212e-01 5.16467451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05420609899998 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:36.92, Y:-20.47, Z:51.65 [[ 1.85335921e-01 8.93046179e-01 4.10023315e-01 3.69209312e+01] [-3.62418326e-01 4.49957089e-01 -8.16205596e-01 -2.04675951e+01] [-9.13402186e-01 2.67225285e-03 4.07049512e-01 5.16471765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08420609899999 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:36.95, Y:-20.49, Z:51.65 [[ 1.44954756e-01 8.96722263e-01 4.18183336e-01 3.69528676e+01] [-3.81094963e-01 4.40638882e-01 -8.12775495e-01 -2.04886398e+01] [-9.13101718e-01 -4.15518892e-02 4.05609039e-01 5.16520048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11420609899997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:36.96, Y:-20.52, Z:51.66 [[ 1.64972985e-01 8.95679533e-01 4.12967418e-01 3.69594345e+01] [-3.75234517e-01 4.44215956e-01 -8.13554695e-01 -2.05210779e+01] [-9.12131006e-01 -2.07450836e-02 4.09373509e-01 5.16551742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14420609899997 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:36.97, Y:-20.55, Z:51.66 [[ 1.73192928e-01 8.95521192e-01 4.09934146e-01 3.69702046e+01] [-3.78075227e-01 4.44786926e-01 -8.11925929e-01 -2.05481251e+01] [-9.09430224e-01 -1.43661168e-02 4.15608328e-01 5.16559352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17420609899997 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:36.99, Y:-20.57, Z:51.66 [[ 1.62941350e-01 8.96670491e-01 4.11621364e-01 3.69894014e+01] [-3.85325376e-01 4.41898077e-01 -8.10092861e-01 -2.05737849e+01] [-9.08281053e-01 -2.66105329e-02 4.17513363e-01 5.16595172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20420609899998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:37.02, Y:-20.60, Z:51.67 [[ 1.41540882e-01 8.98875707e-01 4.14715133e-01 3.70150173e+01] [-3.98798943e-01 4.35209580e-01 -8.07187726e-01 -2.05993781e+01] [-9.06049437e-01 -5.11378935e-02 4.20070630e-01 5.16662710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.23420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.01, Y:-20.64, Z:51.67 [[ 1.86372307e-01 8.95640057e-01 4.03849293e-01 3.70097185e+01] [-3.77799425e-01 4.44777899e-01 -8.12059244e-01 -2.06356067e+01] [-9.06936027e-01 -1.22867585e-03 4.21266582e-01 5.16687827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.04, Y:-20.66, Z:51.68 [[ 1.49504420e-01 8.98439233e-01 4.12862414e-01 3.70407432e+01] [-3.95188248e-01 4.37049521e-01 -8.07969037e-01 -2.06569943e+01] [-9.06352402e-01 -4.23634324e-02 4.20393462e-01 5.16751008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29420609899998 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:37.04, Y:-20.69, Z:51.68 [[ 1.75693252e-01 8.97173708e-01 4.05229835e-01 3.70434011e+01] [-3.84201631e-01 4.41479727e-01 -8.10854338e-01 -2.06887728e+01] [-9.06377950e-01 -1.32283277e-02 4.22260611e-01 5.16780679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32420609899998 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:37.07, Y:-20.71, Z:51.68 [[ 1.49051401e-01 8.99163188e-01 4.11447739e-01 3.70688622e+01] [-3.93826736e-01 4.35650902e-01 -8.09387913e-01 -2.07122409e+01] [-9.07019395e-01 -4.13987175e-02 4.19048880e-01 5.16831374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35420609899998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:37.08, Y:-20.75, Z:51.69 [[ 1.66833962e-01 8.99992366e-01 4.02715992e-01 3.70778108e+01] [-3.93143011e-01 4.35287648e-01 -8.09915573e-01 -2.07459121e+01] [-9.04215130e-01 -2.32035539e-02 4.26446472e-01 5.16876013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38420609899998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:37.08, Y:-20.78, Z:51.69 [[ 1.88066748e-01 8.97695004e-01 3.98465278e-01 3.70827605e+01] [-3.81890476e-01 4.40616951e-01 -8.12413913e-01 -2.07771771e+01] [-9.04870467e-01 6.17947680e-04 4.25686569e-01 5.16918903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41420609899998 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:37.11, Y:-20.80, Z:51.70 [[ 1.61327272e-01 9.00353238e-01 4.04150415e-01 3.71101266e+01] [-3.96704709e-01 4.34134978e-01 -8.08796757e-01 -2.08009503e+01] [-9.03658611e-01 -2.98473984e-02 4.27212181e-01 5.16976537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44420609899998 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:37.11, Y:-20.84, Z:51.70 [[ 1.93055406e-01 8.98066744e-01 3.95228711e-01 3.71112416e+01] [-3.81301588e-01 4.39814421e-01 -8.13125066e-01 -2.08352855e+01] [-9.04067868e-01 6.27685410e-03 4.27342827e-01 5.17011634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47420609899997 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:37.14, Y:-20.86, Z:51.71 [[ 1.63454765e-01 9.00655685e-01 4.02618773e-01 3.71377532e+01] [-3.95322477e-01 4.33705346e-01 -8.09703533e-01 -2.08579345e+01] [-9.03882005e-01 -2.68143502e-02 4.26940642e-01 5.17068868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50420609899997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:37.15, Y:-20.89, Z:51.71 [[ 1.73443727e-01 9.00422126e-01 3.98945195e-01 3.71491927e+01] [-3.93694325e-01 4.34701179e-01 -8.09962754e-01 -2.08883866e+01] [-9.02730332e-01 -1.65795007e-02 4.29887274e-01 5.17110279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53420609899997 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:37.17, Y:-20.92, Z:51.72 [[ 1.64918328e-01 9.01961348e-01 3.99083540e-01 3.71675623e+01] [-4.00358764e-01 4.31008255e-01 -8.08668501e-01 -2.09151472e+01] [-9.01396031e-01 -2.64123357e-02 4.32189291e-01 5.17183044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56420609899997 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:37.16, Y:-20.95, Z:51.72 [[ 2.06197634e-01 8.98297942e-01 3.87999154e-01 3.71647066e+01] [-3.82839414e-01 4.38972920e-01 -8.12857158e-01 -2.09509877e+01] [-9.00509033e-01 1.90678535e-02 4.34419035e-01 5.17195792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.59420609899998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:37.19, Y:-20.97, Z:51.73 [[ 1.66517224e-01 9.01977210e-01 3.98383140e-01 3.71949995e+01] [-3.99031013e-01 4.31104422e-01 -8.09273272e-01 -2.09724585e+01] [-9.01690781e-01 -2.42092895e-02 4.31703191e-01 5.17259498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62420609899998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:37.21, Y:-21.00, Z:51.73 [[ 1.62181225e-01 9.03438311e-01 3.96858247e-01 3.72118165e+01] [-4.04193007e-01 4.27716914e-01 -8.08508661e-01 -2.10010650e+01] [-9.00180684e-01 -2.92824029e-02 4.34531101e-01 5.17323120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65420609899998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:37.21, Y:-21.04, Z:51.74 [[ 1.93396659e-01 9.00749338e-01 3.88906623e-01 3.72129766e+01] [-3.86478090e-01 4.34282014e-01 -8.13654606e-01 -2.10353294e+01] [-9.01794000e-01 7.05419323e-03 4.32108575e-01 5.17371608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68420609899998 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:37.25, Y:-21.05, Z:51.75 [[ 1.47923777e-01 9.07059300e-01 3.94159844e-01 3.72477936e+01] [-4.24089140e-01 4.18218876e-01 -8.03269178e-01 -2.10542174e+01] [-8.93457865e-01 -4.83362988e-02 4.46538514e-01 5.17458895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71420609899998 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:37.25, Y:-21.09, Z:51.75 [[ 1.66846402e-01 9.06909286e-01 3.86882184e-01 3.72535588e+01] [-4.11672489e-01 4.20619949e-01 -8.08458174e-01 -2.10876456e+01] [-8.95928591e-01 -2.43804143e-02 4.43528529e-01 5.17531520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74420609899998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:37.26, Y:-21.12, Z:51.76 [[ 1.92322189e-01 9.03883343e-01 3.82108726e-01 3.72581284e+01] [-4.07670137e-01 4.27778582e-01 -8.06728296e-01 -2.11207918e+01] [-8.92646198e-01 -6.22565068e-04 4.50757560e-01 5.17566987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77420609899998 meters Centerline goodness : 0.999965 Centerline is valid? [True, True] Translation: X:37.29, Y:-21.14, Z:51.77 [[ 1.58094257e-01 9.06863785e-01 3.90645979e-01 3.72886272e+01] [-4.32836790e-01 4.19232816e-01 -7.98057742e-01 -2.11420496e+01] [-8.87501278e-01 -4.29176064e-02 4.58802311e-01 5.17656348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80420609899998 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:37.29, Y:-21.18, Z:51.77 [[ 1.88075730e-01 9.04562470e-01 3.82615025e-01 3.72896807e+01] [-4.17542145e-01 4.26249626e-01 -8.02477297e-01 -2.11772582e+01] [-8.88980358e-01 -8.83139439e-03 4.57860164e-01 5.17729619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83420609899999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:37.30, Y:-21.21, Z:51.78 [[ 1.90056487e-01 9.04624148e-01 3.81488772e-01 3.73032671e+01] [-4.19206297e-01 4.26143153e-01 -8.01665824e-01 -2.12069145e+01] [-8.87775091e-01 -7.56070485e-03 4.60215410e-01 5.17779194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86420609899997 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:37.32, Y:-21.24, Z:51.78 [[ 1.94692622e-01 9.03805706e-01 3.81090579e-01 3.73163670e+01] [-4.17256968e-01 4.27933066e-01 -8.01729327e-01 -2.12364071e+01] [-8.87688800e-01 -2.92191427e-03 4.60434639e-01 5.17829915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89420609899997 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:37.33, Y:-21.27, Z:51.79 [[ 1.96776423e-01 9.03485236e-01 3.80780078e-01 3.73291667e+01] [-4.14669546e-01 4.28619208e-01 -8.02704642e-01 -2.12665991e+01] [-8.88441448e-01 5.54462735e-05 4.58989967e-01 5.17896159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92420609899997 meters Centerline goodness : 0.999897 Centerline is valid? [True, True] Translation: X:37.34, Y:-21.30, Z:51.80 [[ 1.96515330e-01 9.03721307e-01 3.80354471e-01 3.73436647e+01] [-4.14793316e-01 4.28121243e-01 -8.02906412e-01 -2.12961858e+01] [-8.88441461e-01 1.49267536e-05 4.58989945e-01 5.17957606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.95420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.36, Y:-21.33, Z:51.80 [[ 1.98330583e-01 9.03596737e-01 3.79707673e-01 3.73576810e+01] [-4.13990253e-01 4.28378950e-01 -8.03183382e-01 -2.13256123e+01] [-8.88412658e-01 2.10055285e-03 4.59040889e-01 5.18014925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.37, Y:-21.36, Z:51.81 [[ 1.98075906e-01 9.03820725e-01 3.79307305e-01 3.73721410e+01] [-4.14111905e-01 4.27906393e-01 -8.03372547e-01 -2.13552173e+01] [-8.88412779e-01 2.05307417e-03 4.59040869e-01 5.18076371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01420609899998 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:37.39, Y:-21.39, Z:51.81 [[ 2.00333917e-01 9.03728252e-01 3.78340546e-01 3.73858494e+01] [-4.14866944e-01 4.28088963e-01 -8.02885583e-01 -2.13851431e+01] [-8.87553796e-01 3.88422735e-03 4.60687716e-01 5.18130538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04420609899998 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:37.39, Y:-21.42, Z:51.82 [[ 2.14280371e-01 9.01366847e-01 3.76326626e-01 3.73932259e+01] [-4.04052250e-01 4.32563561e-01 -8.05996616e-01 -2.14160514e+01] [-8.89283814e-01 2.06536337e-02 4.56889183e-01 5.18175103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07420609899998 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:37.42, Y:-21.44, Z:51.82 [[ 1.89477006e-01 9.04208990e-01 3.82759149e-01 3.74177452e+01] [-4.17059446e-01 4.27022423e-01 -8.02317436e-01 -2.14394846e+01] [-8.88909378e-01 -7.61261339e-03 4.58019831e-01 5.18224962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10420609899998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:37.44, Y:-21.47, Z:51.83 [[ 1.77208662e-01 9.06119286e-01 3.84115778e-01 3.74371481e+01] [-4.25128622e-01 4.22478317e-01 -8.00485932e-01 -2.14662017e+01] [-8.87616328e-01 -2.14455705e-02 4.60084060e-01 5.18293095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13420609899998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:37.44, Y:-21.50, Z:51.84 [[ 2.01689739e-01 9.04215427e-01 3.76451473e-01 3.74409840e+01] [-4.13695682e-01 4.27028193e-01 -8.04053982e-01 -2.15007110e+01] [-8.87793406e-01 6.43308906e-03 4.60197222e-01 5.18357914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16420609899998 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:37.45, Y:-21.53, Z:51.84 [[ 2.04913030e-01 9.03723745e-01 3.75890999e-01 3.74542345e+01] [-4.11786586e-01 4.27997663e-01 -8.04518370e-01 -2.15304718e+01] [-8.87942824e-01 1.00694255e-02 4.59843613e-01 5.18432156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19420609899998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:37.47, Y:-21.56, Z:51.85 [[ 2.07207882e-01 9.03438946e-01 3.75317151e-01 3.74684005e+01] [-4.11035176e-01 4.28535835e-01 -8.04616133e-01 -2.15601275e+01] [-8.87758401e-01 1.24542531e-02 4.60141189e-01 5.18488891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22420609899997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:37.48, Y:-21.59, Z:51.85 [[ 2.17105787e-01 9.01835903e-01 3.73573394e-01 3.74775277e+01] [-4.03691850e-01 4.31391832e-01 -8.06804795e-01 -2.15908176e+01] [-8.88762042e-01 2.43534551e-02 4.57721468e-01 5.18539873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25420609899997 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:37.50, Y:-21.61, Z:51.86 [[ 1.89670004e-01 9.05201275e-01 3.80310323e-01 3.75037262e+01] [-4.19275725e-01 4.24920645e-01 -8.02278201e-01 -2.16141980e+01] [-8.87824958e-01 -7.28677652e-03 4.60123621e-01 5.18613436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28420609899997 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:37.51, Y:-21.65, Z:51.87 [[ 2.09348208e-01 9.03581698e-01 3.73782614e-01 3.75099842e+01] [-4.10815837e-01 4.28154717e-01 -8.04930983e-01 -2.16468304e+01] [-8.87357694e-01 1.49550414e-02 4.60839094e-01 5.18674953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.31420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.53, Y:-21.67, Z:51.87 [[ 1.97718717e-01 9.04280852e-01 3.78395889e-01 3.75274926e+01] [-4.14770894e-01 4.26933739e-01 -8.03550053e-01 -2.16717502e+01] [-8.88184899e-01 1.92928412e-03 4.59482169e-01 5.18728995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34420609899998 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:37.54, Y:-21.70, Z:51.88 [[ 1.95592693e-01 9.05429030e-01 3.76751602e-01 3.75436652e+01] [-4.19521715e-01 4.24496200e-01 -8.02374294e-01 -2.17011226e+01] [-8.86422602e-01 -1.11692977e-03 4.62875494e-01 5.18785984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.37420609899998 meters Centerline goodness : 0.999794 Centerline is valid? [True, True] Translation: X:37.54, Y:-21.73, Z:51.88 [[ 2.27030500e-01 9.01554252e-01 3.68316554e-01 3.75432998e+01] [-4.03927731e-01 4.31297930e-01 -8.06736936e-01 -2.17347466e+01] [-8.86171282e-01 3.43806200e-02 4.62080547e-01 5.18810036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40420609899998 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:37.58, Y:-21.76, Z:51.89 [[ 1.84111040e-01 9.06891045e-01 3.79014190e-01 3.75754284e+01] [-4.25522592e-01 4.21138851e-01 -8.00982267e-01 -2.17554022e+01] [-8.86021246e-01 -1.38094222e-02 4.63438940e-01 5.18891018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43420609899998 meters Centerline goodness : 0.999795 Centerline is valid? [True, True] Translation: X:37.58, Y:-21.79, Z:51.89 [[ 2.08361340e-01 9.04029777e-01 3.73250202e-01 3.75818859e+01] [-4.14089882e-01 4.27274644e-01 -8.03720068e-01 -2.17889303e+01] [-8.86067222e-01 1.29050585e-02 4.63377101e-01 5.18940131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46420609899998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:37.59, Y:-21.82, Z:51.89 [[ 2.12222055e-01 9.04195796e-01 3.70663948e-01 3.75946497e+01] [-4.04447516e-01 4.26562962e-01 -8.08990882e-01 -2.18213458e+01] [-8.89597666e-01 2.17715946e-02 4.56225811e-01 5.18901305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49420609899998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:37.61, Y:-21.85, Z:51.90 [[ 2.11992807e-01 9.04392117e-01 3.70316011e-01 3.76086733e+01] [-4.04564784e-01 4.26149341e-01 -8.09150217e-01 -2.18510972e+01] [-8.89599003e-01 2.17172084e-02 4.56225796e-01 5.18965589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52420609899998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:37.62, Y:-21.88, Z:51.90 [[ 2.09733862e-01 9.04343732e-01 3.71717799e-01 3.76211110e+01] [-3.95069611e-01 4.26138885e-01 -8.13833922e-01 -2.18816779e+01] [-8.94389014e-01 2.38341253e-02 4.46654481e-01 5.18974435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55420609899998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:37.63, Y:-21.91, Z:51.90 [[ 2.14223484e-01 9.03141253e-01 3.72080874e-01 3.76326626e+01] [-3.85873841e-01 4.28187957e-01 -8.17163663e-01 -2.19116642e+01] [-8.97334763e-01 3.14793711e-02 4.40226501e-01 5.18983702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58420609899999 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:37.65, Y:-21.94, Z:51.90 [[ 2.02300574e-01 9.04591110e-01 3.75219138e-01 3.76512240e+01] [-3.90378823e-01 4.25872301e-01 -8.16233519e-01 -2.19394600e+01] [-8.98153023e-01 1.86469038e-02 4.39287424e-01 5.19021019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61420609899997 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:37.66, Y:-21.97, Z:51.90 [[ 2.03506868e-01 9.05031615e-01 3.73500644e-01 3.76626764e+01] [-3.91290082e-01 4.24874823e-01 -8.16317007e-01 -2.19688205e+01] [-8.97483719e-01 1.99790194e-02 4.40594840e-01 5.19044196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64420609899997 meters Centerline goodness : 0.999775 Centerline is valid? [True, True] Translation: X:37.68, Y:-21.99, Z:51.91 [[ 1.83457797e-01 9.07941576e-01 3.76809409e-01 3.76837498e+01] [-4.04882351e-01 4.19082378e-01 -8.12674746e-01 -2.19948987e+01] [-8.95775373e-01 -3.47196122e-03 4.44493450e-01 5.19117524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67420609899997 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:37.68, Y:-22.03, Z:51.92 [[ 2.24902971e-01 9.03056150e-01 3.65934753e-01 3.76798772e+01] [-3.81675252e-01 4.27192955e-01 -8.19652476e-01 -2.20303929e+01] [-8.96516958e-01 4.46740379e-02 4.40751149e-01 5.19178858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.71, Y:-22.05, Z:51.93 [[ 1.88116960e-01 9.07752359e-01 3.74963550e-01 3.77063657e+01] [-3.93372071e-01 4.19457599e-01 -8.18115967e-01 -2.20528319e+01] [-8.99928010e-01 6.40130105e-03 4.35991514e-01 5.19282477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.73420609899998 meters Centerline goodness : 0.999839 Centerline is valid? [True, True] Translation: X:37.72, Y:-22.08, Z:51.94 [[ 1.87822503e-01 9.08732783e-01 3.72729710e-01 3.77188921e+01] [-3.91515585e-01 4.17299695e-01 -8.20107622e-01 -2.20827788e+01] [-9.00798676e-01 8.10517618e-03 4.34161320e-01 5.19363791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76420609899998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:37.73, Y:-22.11, Z:51.95 [[ 1.89714126e-01 9.08825878e-01 3.71542828e-01 3.77311957e+01] [-3.87176259e-01 4.16998601e-01 -8.22317889e-01 -2.21120594e+01] [-9.02276618e-01 1.21527573e-02 4.30986329e-01 5.19475061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79420609899998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:37.74, Y:-22.14, Z:51.95 [[ 1.93426181e-01 9.08729141e-01 3.69861679e-01 3.77432722e+01] [-3.85504507e-01 4.17055271e-01 -8.23074223e-01 -2.21415863e+01] [-9.02204294e-01 1.66207593e-02 4.30988587e-01 5.19539222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.77, Y:-22.17, Z:51.96 [[ 1.68113582e-01 9.11475102e-01 3.75434366e-01 3.77659024e+01] [-3.92264355e-01 4.11257956e-01 -8.22797405e-01 -2.21656945e+01] [-9.04359718e-01 -8.94610089e-03 4.26677241e-01 5.19637222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85420609899998 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:37.77, Y:-22.20, Z:51.97 [[ 2.06947377e-01 9.07739094e-01 3.64941805e-01 3.77650963e+01] [-3.81814033e-01 4.18372600e-01 -8.24125240e-01 -2.22023621e+01] [-9.00772350e-01 3.12106544e-02 4.33168637e-01 5.19661368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88420609899998 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:37.78, Y:-22.23, Z:51.97 [[ 1.91741562e-01 9.09733909e-01 3.68265377e-01 3.77843908e+01] [-3.86511060e-01 4.14898708e-01 -8.23691849e-01 -2.22289877e+01] [-9.02133235e-01 1.55973208e-02 4.31175544e-01 5.19747573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91420609899998 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:37.80, Y:-22.26, Z:51.98 [[ 1.88507590e-01 9.10472155e-01 3.68110504e-01 3.77995109e+01] [-3.85270353e-01 4.13343170e-01 -8.25054046e-01 -2.22580023e+01] [-9.03344698e-01 1.37068859e-02 4.28696254e-01 5.19812923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94420609899998 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:37.81, Y:-22.29, Z:51.99 [[ 1.88260672e-01 9.10696500e-01 3.67681661e-01 3.78132877e+01] [-3.85389400e-01 4.12850181e-01 -8.25245259e-01 -2.22878344e+01] [-9.03345410e-01 1.36606128e-02 4.28696231e-01 5.19878776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97420609899997 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:37.83, Y:-22.32, Z:52.00 [[ 1.83139035e-01 9.11816187e-01 3.67493312e-01 3.78276636e+01] [-3.85420666e-01 4.10483845e-01 -8.26410264e-01 -2.23163506e+01] [-9.04384323e-01 9.70846140e-03 4.26608417e-01 5.19981726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00420609899997 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:37.84, Y:-22.35, Z:52.00 [[ 1.82863840e-01 9.12111471e-01 3.66897097e-01 3.78415381e+01] [-3.85551331e-01 4.09827224e-01 -8.26675158e-01 -2.23461482e+01] [-9.04384314e-01 9.71133006e-03 4.26608372e-01 5.20047593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03420609899997 meters Centerline goodness : 0.999968 Centerline is valid? [True, True] Translation: X:37.86, Y:-22.37, Z:52.01 [[ 1.79913957e-01 9.12802918e-01 3.66635789e-01 3.78560259e+01] [-3.84646217e-01 4.08323631e-01 -8.27840021e-01 -2.23743853e+01] [-9.05360843e-01 7.91490516e-03 4.24569309e-01 5.20126526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06420609899997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:37.87, Y:-22.40, Z:52.02 [[ 1.78467825e-01 9.13298756e-01 3.66107385e-01 3.78700206e+01] [-3.85010048e-01 4.07232626e-01 -8.28208217e-01 -2.24031660e+01] [-9.05492407e-01 6.85349776e-03 4.24307119e-01 5.20195723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.09420609899998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:37.88, Y:-22.43, Z:52.03 [[ 1.76498099e-01 9.13796286e-01 3.65820678e-01 3.78839181e+01] [-3.83797573e-01 4.06128915e-01 -8.29312202e-01 -2.24321062e+01] [-9.06392765e-01 5.97093860e-03 4.22393778e-01 5.20284709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.90, Y:-22.46, Z:52.03 [[ 1.75603673e-01 9.14124669e-01 3.65430485e-01 3.78968213e+01] [-3.84656710e-01 4.05401665e-01 -8.29269983e-01 -2.24590335e+01] [-9.06202276e-01 5.05756668e-03 4.22814209e-01 5.20329040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.15420609899998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:37.93, Y:-22.48, Z:52.04 [[ 1.35683655e-01 9.17312388e-01 3.74336652e-01 3.79262804e+01] [-4.02312653e-01 3.96290663e-01 -8.25286762e-01 -2.24796105e+01] [-9.05391890e-01 -3.86224469e-02 4.22816546e-01 5.20402503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18420609899998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:37.93, Y:-22.51, Z:52.05 [[ 1.50006647e-01 9.17101785e-01 3.69353924e-01 3.79341639e+01] [-3.94106380e-01 3.98083554e-01 -8.28377719e-01 -2.25114239e+01] [-9.06740408e-01 -2.13025739e-02 4.21150844e-01 5.20473831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.95, Y:-22.54, Z:52.05 [[ 1.47064574e-01 9.17376909e-01 3.69853508e-01 3.79489820e+01] [-4.01897429e-01 3.97082327e-01 -8.25108527e-01 -2.25403869e+01] [-9.03797802e-01 -2.72989401e-02 4.27088165e-01 5.20499418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24420609899998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:37.97, Y:-22.57, Z:52.06 [[ 1.30600195e-01 9.18946537e-01 3.72130154e-01 3.79679939e+01] [-4.07497444e-01 3.91928978e-01 -8.24825745e-01 -2.25655080e+01] [-9.03819353e-01 -4.39196834e-02 4.25654366e-01 5.20566925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27420609899998 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] Translation: X:37.97, Y:-22.60, Z:52.06 [[ 1.60567760e-01 9.17625139e-01 3.63568561e-01 3.79687349e+01] [-3.97526050e-01 3.97274222e-01 -8.27131327e-01 -2.25995683e+01] [-9.03432916e-01 -1.17173499e-02 4.28569329e-01 5.20606884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30420609899998 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:37.99, Y:-22.63, Z:52.07 [[ 1.46714374e-01 9.19237885e-01 3.65344500e-01 3.79880854e+01] [-4.07648145e-01 3.92706810e-01 -8.24381193e-01 -2.26256069e+01] [-9.01275697e-01 -2.79834370e-02 4.32341353e-01 5.20653849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33420609899997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:38.01, Y:-22.65, Z:52.07 [[ 1.37973436e-01 9.19862121e-01 3.67174359e-01 3.80052068e+01] [-4.12789556e-01 3.90394420e-01 -8.22919789e-01 -2.26517083e+01] [-9.00315563e-01 -3.80246700e-02 4.33573536e-01 5.20715602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36420609899997 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:38.02, Y:-22.68, Z:52.08 [[ 1.45428193e-01 9.19680880e-01 3.64743362e-01 3.80151166e+01] [-4.13271174e-01 3.91427628e-01 -8.22186930e-01 -2.26803613e+01] [-8.98920229e-01 -3.11687577e-02 4.37002210e-01 5.20772221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39420609899997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:38.03, Y:-22.71, Z:52.08 [[ 1.54701581e-01 9.19334351e-01 3.61789680e-01 3.80251967e+01] [-4.13461432e-01 3.92832798e-01 -8.21420743e-01 -2.27102181e+01] [-8.97283158e-01 -2.25109915e-02 4.40881152e-01 5.20814353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42420609899997 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:38.04, Y:-22.74, Z:52.09 [[ 1.61319549e-01 9.19105129e-01 3.59474289e-01 3.80357146e+01] [-4.13095421e-01 3.93686488e-01 -8.21196153e-01 -2.27401789e+01] [-8.96285767e-01 -1.60221893e-02 4.43187447e-01 5.20865259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.45420609899998 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:38.05, Y:-22.77, Z:52.09 [[ 1.62607277e-01 9.19664328e-01 3.57458246e-01 3.80495733e+01] [-4.17002652e-01 3.92389470e-01 -8.19841016e-01 -2.27686304e+01] [-8.94241389e-01 -1.57489212e-02 4.47307847e-01 5.20918475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48420609899998 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:38.07, Y:-22.79, Z:52.10 [[ 1.56856660e-01 9.20010347e-01 3.59133609e-01 3.80668991e+01] [-4.24714398e-01 3.91130032e-01 -8.16477176e-01 -2.27945419e+01] [-8.91635390e-01 -2.44593318e-02 4.52092991e-01 5.20965110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.51420609899998 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:38.07, Y:-22.83, Z:52.10 [[ 1.89959386e-01 9.17984357e-01 3.48166844e-01 3.80662650e+01] [-4.10776695e-01 3.96405196e-01 -8.21051416e-01 -2.28288575e+01] [-8.91727502e-01 1.29475968e-02 4.52387468e-01 5.21032973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54420609899998 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:38.09, Y:-22.86, Z:52.11 [[ 1.74389585e-01 9.19646897e-01 3.51906035e-01 3.80862816e+01] [-4.22004097e-01 3.92700267e-01 -8.17128535e-01 -2.28569374e+01] [-8.89663315e-01 -6.00708248e-03 4.56577595e-01 5.21092293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57420609899998 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:38.10, Y:-22.88, Z:52.11 [[ 1.61935466e-01 9.21216104e-01 3.53748208e-01 3.81048484e+01] [-4.30738175e-01 3.88512630e-01 -8.14568942e-01 -2.28833972e+01] [-8.87829674e-01 -2.04652566e-02 4.59716917e-01 5.21139951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60420609899998 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:38.12, Y:-22.91, Z:52.12 [[ 1.52218653e-01 9.22438954e-01 3.54874426e-01 3.81222780e+01] [-4.39657712e-01 3.84773940e-01 -8.11572616e-01 -2.29085645e+01] [-8.85172626e-01 -3.24867881e-02 4.64127170e-01 5.21181271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63420609899998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:38.13, Y:-22.94, Z:52.13 [[ 1.71667458e-01 9.21233358e-01 3.49083634e-01 3.81269054e+01] [-4.33469282e-01 3.88832698e-01 -8.12965875e-01 -2.29398494e+01] [-8.84666415e-01 -1.17572466e-02 4.66076283e-01 5.21257684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66420609899998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:38.14, Y:-22.97, Z:52.13 [[ 1.79561754e-01 9.20402414e-01 3.47299543e-01 3.81369019e+01] [-4.33381103e-01 3.90944014e-01 -8.11999752e-01 -2.29694778e+01] [-8.83141209e-01 -4.70895965e-03 4.69083607e-01 5.21301457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69420609899998 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:38.15, Y:-23.00, Z:52.14 [[ 1.79301685e-01 9.21046754e-01 3.45722117e-01 3.81490713e+01] [-4.38829936e-01 3.89397569e-01 -8.09813448e-01 -2.29952599e+01] [-8.80499400e-01 -6.51229857e-03 4.74002529e-01 5.21359367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72420609899997 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:38.18, Y:-23.02, Z:52.14 [[ 0.13183 0.92516507 0.35593602 38.18430242] [ -0.46661563 0.37471745 -0.80115959 -23.01819032] [ -0.8745803 -0.06046844 0.48109548 52.14241946] [ 0. 0. 0. 1. ]] SLAMing on 125.75420609899997 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:38.15, Y:-23.06, Z:52.15 [[ 0.25002964 0.91119718 0.32742156 38.14666845] [ -0.41646967 0.4064913 -0.81321451 -23.06408521] [ -0.87409278 0.06696658 0.48112086 52.14510561] [ 0. 0. 0. 1. ]] SLAMing on 125.78420609899997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:38.19, Y:-23.08, Z:52.15 [[ 1.84472355e-01 9.22383900e-01 3.39378684e-01 3.81873536e+01] [-4.52285184e-01 3.86239456e-01 -8.03901235e-01 -2.30829502e+01] [-8.72586994e-01 -5.19839688e-03 4.88431074e-01 5.21505514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.81420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.22, Y:-23.11, Z:52.16 [[ 0.14114966 0.92592475 0.35034289 38.2194859 ] [ -0.47583181 0.37378069 -0.79616085 -23.10506205] [ -0.86813643 -0.05432645 0.49334346 52.15947241] [ 0. 0. 0. 1. ]] SLAMing on 125.84420609899998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:38.19, Y:-23.15, Z:52.16 [[ 2.38700676e-01 9.15566203e-01 3.23667292e-01 3.81918312e+01] [-4.37935637e-01 3.98976772e-01 -8.05623928e-01 -2.31499484e+01] [-8.66737772e-01 5.05575343e-02 4.96195093e-01 5.21642243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.87420609899998 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:38.23, Y:-23.17, Z:52.17 [[ 1.79229228e-01 9.23335646e-01 3.39600013e-01 3.82291262e+01] [-4.65392633e-01 3.83697175e-01 -7.97612798e-01 -2.31680143e+01] [-8.66767893e-01 -1.50918186e-02 4.98483356e-01 5.21705648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90420609899998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:38.25, Y:-23.19, Z:52.18 [[ 1.58590787e-01 9.26115978e-01 3.42283737e-01 3.82501722e+01] [-4.74030183e-01 3.75522162e-01 -7.96416029e-01 -2.31940952e+01] [-8.66108739e-01 -3.59485776e-02 4.98561282e-01 5.21809476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93420609899998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:38.24, Y:-23.23, Z:52.19 [[ 2.03737409e-01 9.21444388e-01 3.30804031e-01 3.82447083e+01] [-4.55180791e-01 3.88303544e-01 -8.01268248e-01 -2.32306787e+01] [-8.66776508e-01 1.26726764e-02 4.98535744e-01 5.21910382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96420609899998 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] Translation: X:38.26, Y:-23.26, Z:52.20 [[ 2.01991828e-01 9.22021642e-01 3.30265640e-01 3.82573372e+01] [-4.55709850e-01 3.86970044e-01 -8.01612573e-01 -2.32602258e+01] [-8.66907050e-01 1.14138838e-02 4.98339131e-01 5.21991861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.27, Y:-23.29, Z:52.20 [[ 2.03919397e-01 9.22015930e-01 3.29094977e-01 3.82689541e+01] [-4.59535788e-01 3.86972463e-01 -7.99424276e-01 -2.32887376e+01] [-8.64432611e-01 1.17871968e-02 5.02610508e-01 5.22033690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02420609899998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:38.29, Y:-23.31, Z:52.21 [[ 1.77247564e-01 9.25173632e-01 3.35614438e-01 3.82928441e+01] [-4.67403820e-01 3.79234705e-01 -7.98570415e-01 -2.33135044e+01] [-8.66092934e-01 -1.53228091e-02 4.99648118e-01 5.22138835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05420609899998 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:38.30, Y:-23.35, Z:52.22 [[ 1.98475508e-01 9.23492729e-01 3.28281362e-01 3.82961001e+01] [-4.58793292e-01 3.83522478e-01 -8.01510589e-01 -2.33466183e+01] [-8.66092482e-01 8.46693399e-03 4.99812088e-01 5.22231967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08420609899997 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:38.30, Y:-23.38, Z:52.22 [[ 2.14092271e-01 9.21904661e-01 3.22887434e-01 3.83006919e+01] [-4.55613552e-01 3.86637992e-01 -8.01827509e-01 -2.33764653e+01] [-8.64049067e-01 2.45531820e-02 5.02808463e-01 5.22243439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11420609899997 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:38.33, Y:-23.40, Z:52.23 [[ 1.84188733e-01 9.25552541e-01 3.30797527e-01 3.83261500e+01] [-4.69586144e-01 3.78525463e-01 -7.97626057e-01 -2.34016575e+01] [-8.63460111e-01 -8.42420243e-03 5.04346774e-01 5.22332582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14420609899997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:38.35, Y:-23.43, Z:52.24 [[ 1.62244867e-01 9.28066104e-01 3.35216215e-01 3.83468495e+01] [-4.72590012e-01 3.71304383e-01 -7.99244478e-01 -2.34261550e+01] [-8.66218958e-01 -2.87465207e-02 4.98837001e-01 5.22442350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17420609899997 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:38.35, Y:-23.46, Z:52.25 [[ 1.93077383e-01 9.25459565e-01 3.25953553e-01 3.83469485e+01] [-4.67366120e-01 3.78841702e-01 -7.98778990e-01 -2.34605906e+01] [-8.62722455e-01 1.88650983e-03 5.05674210e-01 5.22479548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20420609899998 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:38.37, Y:-23.48, Z:52.26 [[ 1.58139225e-01 9.29525852e-01 3.33127117e-01 3.83743913e+01] [-4.83858564e-01 3.67039212e-01 -7.94457744e-01 -2.34837508e+01] [-8.60739725e-01 -3.55514767e-02 5.07802341e-01 5.22595864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.23420609899998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:38.37, Y:-23.52, Z:52.27 [[ 1.87194373e-01 9.27638088e-01 3.23180824e-01 3.83746372e+01] [-4.73088089e-01 3.73463746e-01 -7.97942661e-01 -2.35180592e+01] [-8.60898325e-01 -3.52262290e-03 5.08764842e-01 5.22697184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26420609899998 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:38.39, Y:-23.55, Z:52.28 [[ 1.87589887e-01 9.27945618e-01 3.22066709e-01 3.83878550e+01] [-4.76383083e-01 3.72693702e-01 -7.96340733e-01 -2.35473112e+01] [-8.58993127e-01 -4.04166385e-03 5.11971163e-01 5.22765319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29420609899998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:38.40, Y:-23.58, Z:52.29 [[ 1.88388943e-01 9.27825868e-01 3.21945282e-01 3.83994652e+01] [-4.75378256e-01 3.73002046e-01 -7.96796704e-01 -2.35772537e+01] [-8.59374843e-01 -2.93809832e-03 5.11337704e-01 5.22859651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32420609899998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:38.41, Y:-23.61, Z:52.29 [[ 1.83441212e-01 9.29019869e-01 3.21358685e-01 3.84135873e+01] [-4.76977438e-01 3.69963038e-01 -7.97257722e-01 -2.36057639e+01] [-8.59559099e-01 -7.03091938e-03 5.10987985e-01 5.22945300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35420609899998 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:38.42, Y:-23.63, Z:52.30 [[ 1.87903934e-01 9.28534541e-01 3.20180758e-01 3.84231586e+01] [-4.72395889e-01 3.71244550e-01 -7.99387020e-01 -2.36348082e+01] [-8.61123821e-01 -1.04410790e-03 5.08394212e-01 5.23011555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38420609899998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:38.44, Y:-23.66, Z:52.31 [[ 1.72290652e-01 9.30140832e-01 3.24274518e-01 3.84420688e+01] [-4.81189844e-01 3.66718559e-01 -7.96224738e-01 -2.36619550e+01] [-8.59518624e-01 -1.88555253e-02 5.10756502e-01 5.23104967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41420609899998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:38.45, Y:-23.69, Z:52.32 [[ 1.86024389e-01 9.28985727e-01 3.19969445e-01 3.84487379e+01] [-4.75723374e-01 3.70096248e-01 -7.97944885e-01 -2.36940541e+01] [-8.59698900e-01 -3.77973394e-03 5.10787153e-01 5.23195441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44420609899998 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:38.46, Y:-23.72, Z:52.33 [[ 1.85755327e-01 9.29194866e-01 3.19518167e-01 3.84611600e+01] [-4.75828461e-01 3.69570851e-01 -7.98125718e-01 -2.37238993e+01] [-8.59698920e-01 -3.77973405e-03 5.10787118e-01 5.23283985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47420609899997 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:38.47, Y:-23.75, Z:52.34 [[ 1.82107716e-01 9.30088595e-01 3.19017218e-01 3.84749598e+01] [-4.76484207e-01 3.67277048e-01 -7.98793071e-01 -2.37531555e+01] [-8.60116028e-01 -6.54028447e-03 5.10056510e-01 5.23364919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50420609899997 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:38.48, Y:-23.79, Z:52.34 [[ 2.06100466e-01 9.26694509e-01 3.14260855e-01 3.84760925e+01] [-4.68782694e-01 3.75409155e-01 -7.99569104e-01 -2.37851367e+01] [-8.58932701e-01 1.74715146e-02 5.11790350e-01 5.23407873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53420609899997 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:38.51, Y:-23.81, Z:52.35 [[ 1.54618609e-01 9.32805837e-01 3.25524739e-01 3.85101117e+01] [-4.85889414e-01 3.58682230e-01 -7.97031075e-01 -2.38064881e+01] [-8.60235179e-01 -3.49331883e-02 5.08699429e-01 5.23507355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56420609899997 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:38.51, Y:-23.84, Z:52.35 [[ 1.74104060e-01 9.30788660e-01 3.21434669e-01 3.85134112e+01] [-4.82280376e-01 3.65190218e-01 -7.96267382e-01 -2.38384520e+01] [-8.58541446e-01 -1.63882493e-02 5.12482205e-01 5.23548024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.59420609899998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:38.54, Y:-23.86, Z:52.37 [[ 1.40157848e-01 9.34517849e-01 3.27157709e-01 3.85404751e+01] [-4.94633833e-01 3.52319723e-01 -7.94486113e-01 -2.38628856e+01] [-8.57725567e-01 -5.04698082e-02 5.11624520e-01 5.23665077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62420609899998 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:38.54, Y:-23.90, Z:52.37 [[ 1.76299976e-01 9.32161728e-01 3.16216432e-01 3.85371432e+01] [-4.77677442e-01 3.61906321e-01 -8.00529872e-01 -2.38966975e+01] [-8.60664035e-01 -9.91605899e-03 5.09076705e-01 5.23749913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65420609899998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:38.55, Y:-23.93, Z:52.38 [[ 1.81860215e-01 9.31400186e-01 3.15310252e-01 3.85476138e+01] [-4.81780582e-01 3.63930642e-01 -7.97146134e-01 -2.39257946e+01] [-8.57213120e-01 -6.94118937e-03 5.14915029e-01 5.23799719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68420609899998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:38.57, Y:-23.95, Z:52.39 [[ 1.46821558e-01 9.35118922e-01 3.22484159e-01 3.85746934e+01] [-4.95680657e-01 3.51683848e-01 -7.94115330e-01 -2.39501152e+01] [-8.56004741e-01 -4.32559099e-02 5.15155132e-01 5.23898245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71420609899998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:38.57, Y:-23.99, Z:52.40 [[ 1.78640063e-01 9.32648107e-01 3.13456913e-01 3.85736243e+01] [-4.83445126e-01 3.60673757e-01 -7.97618487e-01 -2.39850001e+01] [-8.56953055e-01 -9.05260015e-03 5.15314964e-01 5.23995652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74420609899998 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:38.59, Y:-24.01, Z:52.41 [[ 1.74296278e-01 9.33526542e-01 3.13287412e-01 3.85872057e+01] [-4.82776625e-01 3.58308415e-01 -7.99088112e-01 -2.40136692e+01] [-8.58223478e-01 -1.19697555e-02 5.13136617e-01 5.24103000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.59, Y:-24.05, Z:52.41 [[ 1.96538214e-01 9.31048125e-01 3.07444499e-01 3.85889493e+01] [-4.76005655e-01 3.64732586e-01 -8.00242937e-01 -2.40458241e+01] [-8.57199713e-01 1.09329977e-02 5.14868063e-01 5.24149786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80420609899998 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:38.62, Y:-24.07, Z:52.42 [[ 1.55586149e-01 9.35201943e-01 3.18104191e-01 3.86184144e+01] [-4.94304975e-01 3.52516122e-01 -7.94603659e-01 -2.40701756e+01] [-8.55251742e-01 -3.36111606e-02 5.17121599e-01 5.24225543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83420609899997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:38.63, Y:-24.10, Z:52.43 [[ 1.61752642e-01 9.35047441e-01 3.15471656e-01 3.86285696e+01] [-4.90648172e-01 3.53570442e-01 -7.96399594e-01 -2.40995948e+01] [-8.56212855e-01 -2.59658529e-02 5.15970271e-01 5.24304437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86420609899997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:38.65, Y:-24.12, Z:52.44 [[ 1.37877560e-01 9.37638349e-01 3.19098895e-01 3.86497937e+01] [-4.97702866e-01 3.44135092e-01 -7.96155070e-01 -2.41246263e+01] [-8.56318653e-01 -4.90445158e-02 5.14113801e-01 5.24424844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89420609899997 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:38.65, Y:-24.16, Z:52.45 [[ 1.68835301e-01 9.35531933e-01 3.10281555e-01 3.86491854e+01] [-4.85519879e-01 3.52897155e-01 -7.99833761e-01 -2.41585949e+01] [-8.57767502e-01 -1.56076896e-02 5.13800848e-01 5.24532454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.66, Y:-24.19, Z:52.46 [[ 1.73194254e-01 9.35073779e-01 3.09258434e-01 3.86604725e+01] [-4.85897322e-01 3.54253833e-01 -7.99004389e-01 -2.41883853e+01] [-8.56684039e-01 -1.18848761e-02 5.15704573e-01 5.24633060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.95420609899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:38.67, Y:-24.22, Z:52.47 [[ 1.71609953e-01 9.35380256e-01 3.09214812e-01 3.86733931e+01] [-4.83729090e-01 3.53434060e-01 -8.00681293e-01 -2.42178026e+01] [-8.58228519e-01 -1.21713208e-02 5.13123443e-01 5.24712946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98420609899998 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:38.67, Y:-24.25, Z:52.47 [[ 2.02005016e-01 9.31294133e-01 3.03125734e-01 3.86734561e+01] [-4.70250899e-01 3.63724874e-01 -8.04094713e-01 -2.42515840e+01] [-8.59103059e-01 1.98860164e-02 5.11416153e-01 5.24741801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.01420609899998 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:38.70, Y:-24.28, Z:52.48 [[ 1.63458555e-01 9.35541164e-01 3.13119834e-01 3.87010271e+01] [-4.82941183e-01 3.52639300e-01 -8.01506917e-01 -2.42758121e+01] [-8.60261074e-01 -2.02053008e-02 5.09453267e-01 5.24823900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04420609899998 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:38.71, Y:-24.30, Z:52.49 [[ 1.62226965e-01 9.35945107e-01 3.12552664e-01 3.87122434e+01] [-4.83671445e-01 3.51510952e-01 -8.01562214e-01 -2.43043284e+01] [-8.60083917e-01 -2.11377933e-02 5.09714478e-01 5.24903725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07420609899998 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:38.73, Y:-24.33, Z:52.50 [[ 1.52559684e-01 9.37080944e-01 3.14014087e-01 3.87274917e+01] [-4.89335318e-01 3.47675295e-01 -7.99795496e-01 -2.43317764e+01] [-8.58648059e-01 -3.16416352e-02 5.11588035e-01 5.25004173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10420609899998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:38.72, Y:-24.37, Z:52.51 [[ 1.92602605e-01 9.33309056e-01 3.03048582e-01 3.87224027e+01] [-4.73056496e-01 3.58886244e-01 -8.04623027e-01 -2.43663060e+01] [-8.59721925e-01 1.16133906e-02 5.10630337e-01 5.25074774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13420609899998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:38.75, Y:-24.39, Z:52.51 [[ 1.67702240e-01 9.36599529e-01 3.07664235e-01 3.87456246e+01] [-4.87825675e-01 3.50037219e-01 -7.99687474e-01 -2.43903361e+01] [-8.56680845e-01 -1.59771323e-02 5.15599323e-01 5.25127030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16420609899998 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:38.77, Y:-24.41, Z:52.52 [[ 1.39062446e-01 9.39141895e-01 3.14124396e-01 3.87689773e+01] [-5.02676394e-01 3.40245063e-01 -7.94701038e-01 -2.44149200e+01] [-8.53216314e-01 -4.73898482e-02 5.19399772e-01 5.25228685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19420609899998 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:38.75, Y:-24.45, Z:52.53 [[ 2.04595371e-01 9.33065317e-01 2.95854437e-01 3.87539037e+01] [-4.78228147e-01 3.59002665e-01 -8.01507907e-01 -2.44534144e+01] [-8.54071761e-01 2.24988880e-02 5.19668381e-01 5.25289113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22420609899997 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:38.79, Y:-24.47, Z:52.54 [[ 0.13377333 0.93984268 0.31432536 38.79402601] [ -0.50708584 0.33742475 -0.79310055 -24.47157857] [ -0.8514509 -0.05329424 0.52171935 52.53914647] [ 0. 0. 0. 1. ]] SLAMing on 127.25420609899997 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:38.79, Y:-24.51, Z:52.56 [[ 1.76114312e-01 9.35880756e-01 3.05140886e-01 3.87857471e+01] [-4.78844956e-01 3.52288192e-01 -8.04114754e-01 -2.45056238e+01] [-8.60053055e-01 -4.49905714e-03 5.10184772e-01 5.25576739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28420609899997 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:38.79, Y:-24.54, Z:52.56 [[ 2.00663224e-01 9.33104927e-01 2.98411572e-01 3.87874049e+01] [-4.74600503e-01 3.59067871e-01 -8.03632146e-01 -2.45394558e+01] [-8.57023123e-01 1.96331349e-02 5.14903784e-01 5.25640422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.31420609899997 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:38.81, Y:-24.56, Z:52.58 [[ 1.82500005e-01 9.34374768e-01 3.06002517e-01 3.88051472e+01] [-4.80531869e-01 3.56290827e-01 -8.01340108e-01 -2.45648302e+01] [-8.57777868e-01 -7.99387162e-04 5.14019932e-01 5.25754375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34420609899998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:38.80, Y:-24.60, Z:52.58 [[ 2.21237188e-01 9.26238375e-01 3.05182861e-01 3.87988038e+01] [-4.71280754e-01 3.75514478e-01 -7.98049703e-01 -2.46029662e+01] [-8.53784843e-01 3.27314632e-02 5.19596087e-01 5.25770420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.37420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.82, Y:-24.63, Z:52.59 [[ 1.98751311e-01 9.32141136e-01 3.02672792e-01 3.88207394e+01] [-4.75940182e-01 3.61773049e-01 -8.01624104e-01 -2.46264439e+01] [-8.56725662e-01 1.52696981e-02 5.15546290e-01 5.25923603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40420609899998 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:38.83, Y:-24.66, Z:52.60 [[ 1.97677778e-01 9.32538877e-01 3.02150194e-01 3.88326487e+01] [-4.77075193e-01 3.60787513e-01 -8.01393555e-01 -2.46554721e+01] [-8.56342663e-01 1.42693357e-02 5.16210838e-01 5.26036068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43420609899998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:38.83, Y:-24.69, Z:52.61 [[ 0.24532354 0.92656039 0.28513541 38.82705166] [ -0.46845004 0.37080621 -0.80190854 -24.69031469] [ -0.84874667 0.06315535 0.52501475 52.60590647] [ 0. 0. 0. 1. ]] SLAMing on 127.46420609899998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:38.87, Y:-24.71, Z:52.62 [[ 1.74971569e-01 9.36393660e-01 3.04223378e-01 3.88665389e+01] [-4.90814258e-01 3.50815291e-01 -7.97514887e-01 -2.47069539e+01] [-8.53514097e-01 -9.77474088e-03 5.20978061e-01 5.26215497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49420609899998 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:38.87, Y:-24.74, Z:52.63 [[ 1.98056131e-01 9.33895952e-01 2.97677878e-01 3.88680580e+01] [-4.84614383e-01 3.57275513e-01 -7.98437918e-01 -2.47379013e+01] [-8.52010956e-01 1.38765440e-02 5.23340016e-01 5.26276615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52420609899998 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:38.88, Y:-24.77, Z:52.64 [[ 2.02291014e-01 9.33379690e-01 2.96446791e-01 3.88784581e+01] [-4.85224813e-01 3.58463990e-01 -7.97533980e-01 -2.47683201e+01] [-8.50667519e-01 1.74906188e-02 5.25413029e-01 5.26358750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55420609899998 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:38.89, Y:-24.80, Z:52.65 [[ 2.05919023e-01 9.32842002e-01 2.95640245e-01 3.88885825e+01] [-4.84874549e-01 3.59684243e-01 -7.97197540e-01 -2.47971595e+01] [-8.49996487e-01 2.08097080e-02 5.26377173e-01 5.26451686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58420609899997 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:38.90, Y:-24.83, Z:52.65 [[ 2.08227349e-01 9.32457264e-01 2.95236892e-01 3.88981502e+01] [-4.86996761e-01 3.60618267e-01 -7.95480119e-01 -2.48269785e+01] [-8.48219032e-01 2.18613064e-02 5.29194253e-01 5.26535254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61420609899997 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:38.92, Y:-24.85, Z:52.66 [[ 1.94094697e-01 9.34282700e-01 2.99070369e-01 3.89150524e+01] [-4.95303928e-01 3.56488591e-01 -7.92205721e-01 -2.48518262e+01] [-8.46759274e-01 5.63220131e-03 5.31946436e-01 5.26610355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64420609899997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:38.93, Y:-24.88, Z:52.67 [[ 1.89389035e-01 9.35055258e-01 2.99672252e-01 3.89275905e+01] [-4.94507455e-01 3.54495727e-01 -7.93596343e-01 -2.48793832e+01] [-8.48288966e-01 2.10828334e-03 5.29529400e-01 5.26711578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67420609899997 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:38.94, Y:-24.91, Z:52.68 [[ 1.84505985e-01 9.35627926e-01 3.00928440e-01 3.89399735e+01] [-4.96145783e-01 3.52975513e-01 -7.93251315e-01 -2.49066334e+01] [-8.48408453e-01 -2.94476114e-03 5.29333945e-01 5.26803361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70420609899998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:38.94, Y:-24.94, Z:52.69 [[ 2.17040923e-01 9.32280817e-01 2.89388520e-01 3.89376072e+01] [-4.90550376e-01 3.60469823e-01 -7.93361100e-01 -2.49395625e+01] [-8.43951163e-01 3.02321783e-02 5.35567409e-01 5.26857669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.73420609899998 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:38.97, Y:-24.96, Z:52.70 [[ 1.68379288e-01 9.37988966e-01 3.03026593e-01 3.89678349e+01] [-5.05027248e-01 3.46093275e-01 -7.90674980e-01 -2.49602625e+01] [-8.46519873e-01 -1.99033961e-02 5.31984925e-01 5.26980410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76420609899998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:38.96, Y:-25.00, Z:52.70 [[ 2.08212398e-01 9.33489721e-01 2.91966671e-01 3.89633243e+01] [-4.96265777e-01 3.58058166e-01 -7.90894828e-01 -2.49954548e+01] [-8.42833243e-01 1.97810422e-02 5.37811151e-01 5.27034003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79420609899998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:38.99, Y:-25.02, Z:52.71 [[ 1.59695186e-01 9.38967986e-01 3.04690939e-01 3.89940990e+01] [-5.15282797e-01 3.42554854e-01 -7.85582467e-01 -2.50154687e+01] [-8.42010147e-01 -3.15482615e-02 5.38538411e-01 5.27131896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82420609899998 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:38.98, Y:-25.05, Z:52.72 [[ 2.22050263e-01 9.31886488e-01 2.86847091e-01 3.89801119e+01] [-4.93133403e-01 3.61125711e-01 -7.91459201e-01 -2.50543659e+01] [-8.41137995e-01 3.42898414e-02 5.39732415e-01 5.27220008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.02, Y:-25.07, Z:52.73 [[ 1.56914696e-01 9.39701103e-01 3.03874340e-01 3.90176823e+01] [-5.21392134e-01 3.40135065e-01 -7.82597201e-01 -2.50720768e+01] [-8.38765772e-01 -3.56366885e-02 5.43324954e-01 5.27305004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88420609899998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:39.01, Y:-25.11, Z:52.74 [[ 2.05010841e-01 9.34881374e-01 2.89771240e-01 3.90077907e+01] [-4.98296743e-01 3.54512937e-01 -7.91214846e-01 -2.51076575e+01] [-8.42419676e-01 1.78155557e-02 5.38527339e-01 5.27414560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91420609899998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:39.02, Y:-25.13, Z:52.75 [[ 1.94383242e-01 9.36305828e-01 2.92483421e-01 3.90235445e+01] [-5.06657315e-01 3.51151967e-01 -7.87394857e-01 -2.51343775e+01] [-8.39948522e-01 4.86750020e-03 5.42644255e-01 5.27483726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94420609899998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:39.04, Y:-25.16, Z:52.76 [[ 1.74222814e-01 9.39295565e-01 2.95584596e-01 3.90433902e+01] [-5.13620269e-01 3.42790589e-01 -7.86567753e-01 -2.51590562e+01] [-8.40143220e-01 -1.47801924e-02 5.42163182e-01 5.27610783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97420609899997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:39.05, Y:-25.19, Z:52.77 [[ 1.76838358e-01 9.38937462e-01 2.95168827e-01 3.90530782e+01] [-5.14935795e-01 3.43837208e-01 -7.85249706e-01 -2.51887006e+01] [-8.38790392e-01 -1.31307258e-02 5.44296116e-01 5.27688558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.004206099 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:39.07, Y:-25.21, Z:52.77 [[ 1.56098202e-01 9.41682970e-01 2.98104907e-01 3.90731684e+01] [-5.30585403e-01 3.34505564e-01 -7.78835771e-01 -2.52139910e+01] [-8.33134132e-01 -3.65952492e-02 5.51858955e-01 5.27730167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.034206099 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:39.07, Y:-25.25, Z:52.78 [[ 1.87019803e-01 9.38477664e-01 2.90315805e-01 3.90714523e+01] [-5.21783505e-01 3.45294646e-01 -7.80072805e-01 -2.52464117e+01] [-8.32325397e-01 -5.59293621e-03 5.54259102e-01 5.27818510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.064206099 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:39.09, Y:-25.28, Z:52.79 [[ 1.78815143e-01 9.40733433e-01 2.88176599e-01 3.90879673e+01] [-5.31848066e-01 3.38837275e-01 -7.76097247e-01 -2.52754035e+01] [-8.27745601e-01 -1.44882267e-02 5.60916493e-01 5.27926543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.094206099 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:39.09, Y:-25.31, Z:52.80 [[ 2.03601146e-01 9.38116878e-01 2.80148705e-01 3.90883302e+01] [-5.22806805e-01 3.46105717e-01 -7.79027520e-01 -2.53084891e+01] [-8.27779933e-01 1.21472465e-02 5.60921409e-01 5.28034104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.124206099 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:39.10, Y:-25.34, Z:52.81 [[ 2.05212851e-01 9.37849412e-01 2.79868124e-01 3.90984172e+01] [-5.22048516e-01 3.46767768e-01 -7.79241594e-01 -2.53379117e+01] [-8.27860515e-01 1.38056507e-02 5.60764096e-01 5.28131000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15420609899996 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:39.11, Y:-25.37, Z:52.82 [[ 2.05433221e-01 9.37907122e-01 2.79512829e-01 3.91096365e+01] [-5.22391476e-01 3.46602441e-01 -7.79085293e-01 -2.53675442e+01] [-8.27589474e-01 1.40348815e-02 5.61158342e-01 5.28229074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.18420609899997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:39.12, Y:-25.40, Z:52.83 [[ 2.04315199e-01 9.38353783e-01 2.78832347e-01 3.91207025e+01] [-5.22875625e-01 3.45415590e-01 -7.79287592e-01 -2.53964719e+01] [-8.27560500e-01 1.34256613e-02 5.61215975e-01 5.28331594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.21420609899997 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:39.13, Y:-25.43, Z:52.84 [[ 2.02274188e-01 9.38884158e-01 2.78534900e-01 3.91321998e+01] [-5.22063419e-01 3.44007944e-01 -7.80453920e-01 -2.54258487e+01] [-8.28574040e-01 1.24528011e-02 5.59741001e-01 5.28443116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.24420609899997 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:39.13, Y:-25.46, Z:52.85 [[ 2.20414002e-01 9.35915871e-01 2.74734689e-01 3.91347457e+01] [-5.16314227e-01 3.50914582e-01 -7.81203287e-01 -2.54559637e+01] [-8.27548964e-01 3.03387143e-02 5.60573167e-01 5.28497672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.27420609899997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:39.17, Y:-25.48, Z:52.86 [[ 1.60154792e-01 9.44087128e-01 2.88183860e-01 3.91723763e+01] [-5.39713066e-01 3.28199466e-01 -7.75238619e-01 -2.54770344e+01] [-8.26474591e-01 -3.13784145e-02 5.62098876e-01 5.28622665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.30420609899997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:39.17, Y:-25.51, Z:52.87 [[ 2.01921249e-01 9.39692571e-01 2.76053766e-01 3.91658031e+01] [-5.25015606e-01 3.41793456e-01 -7.79445859e-01 -2.55128431e+01] [-8.26792853e-01 1.24541460e-02 5.62368626e-01 5.28735850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.33420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.18, Y:-25.54, Z:52.89 [[ 2.03228579e-01 9.39538521e-01 2.75618417e-01 3.91759484e+01] [-5.23697825e-01 3.42148136e-01 -7.80176416e-01 -2.55423779e+01] [-8.27308124e-01 1.42133793e-02 5.61568560e-01 5.28854615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.19, Y:-25.57, Z:52.90 [[ 2.02902532e-01 9.39702656e-01 2.75298895e-01 3.91868993e+01] [-5.23821559e-01 3.41701158e-01 -7.80289237e-01 -2.55721804e+01] [-8.27309819e-01 1.41151651e-02 5.61568540e-01 5.28961908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.39420609899997 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:39.20, Y:-25.60, Z:52.90 [[ 1.96969304e-01 9.40426090e-01 2.77131491e-01 3.91997951e+01] [-5.25158439e-01 3.39900905e-01 -7.80176896e-01 -2.55999184e+01] [-8.27895952e-01 8.13295852e-03 5.60822742e-01 5.29049904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42420609899997 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:39.21, Y:-25.63, Z:52.92 [[ 1.96828676e-01 9.40792011e-01 2.75987074e-01 3.92110906e+01] [-5.28679423e-01 3.38906407e-01 -7.78229089e-01 -2.56291235e+01] [-8.25685497e-01 7.26911430e-03 5.64083877e-01 5.29156040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.45420609899998 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:39.22, Y:-25.66, Z:52.93 [[ 2.01461691e-01 9.40427578e-01 2.73877999e-01 3.92183020e+01] [-5.25371613e-01 3.39734868e-01 -7.80105690e-01 -2.56589750e+01] [-8.26678810e-01 1.32736850e-02 5.62517514e-01 5.29275088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48420609899998 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:39.23, Y:-25.69, Z:52.94 [[ 2.05650259e-01 9.39751919e-01 2.73082959e-01 3.92281475e+01] [-5.24556097e-01 3.41427101e-01 -7.79915660e-01 -2.56892218e+01] [-8.26165161e-01 1.71425268e-02 5.63167170e-01 5.29370167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51420609899998 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:39.24, Y:-25.72, Z:52.94 [[ 1.99062343e-01 9.40662594e-01 2.74823704e-01 3.92415951e+01] [-5.29250505e-01 3.39214161e-01 -7.77706665e-01 -2.57164421e+01] [-8.24783661e-01 9.36152700e-03 5.65370918e-01 5.29438167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54420609899998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:39.25, Y:-25.75, Z:52.95 [[ 1.97533671e-01 9.41480477e-01 2.73120779e-01 3.92520045e+01] [-5.25702777e-01 3.36897143e-01 -7.81112607e-01 -2.57458523e+01] [-8.27415881e-01 1.07156886e-02 5.61487430e-01 5.29525025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57420609899998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:39.27, Y:-25.77, Z:52.96 [[ 1.72529065e-01 9.44681486e-01 2.78945537e-01 3.92728430e+01] [-5.34319790e-01 3.27663473e-01 -7.79191254e-01 -2.57698494e+01] [-8.27487815e-01 -1.46129821e-02 5.61293485e-01 5.29639920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60420609899998 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:39.28, Y:-25.80, Z:52.98 [[ 1.79206798e-01 9.44426044e-01 2.75580064e-01 3.92809639e+01] [-5.37756432e-01 3.28599266e-01 -7.76428067e-01 -2.58001376e+01] [-8.23834294e-01 -9.05376375e-03 5.66758402e-01 5.29759597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63420609899998 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:39.28, Y:-25.83, Z:52.99 [[ 2.04910086e-01 9.41141368e-01 2.68821096e-01 3.92805803e+01] [-5.28818530e-01 3.37564562e-01 -7.78717618e-01 -2.58332541e+01] [-8.23627840e-01 1.74095174e-02 5.66863379e-01 5.29875438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66420609899998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:39.29, Y:-25.86, Z:53.00 [[ 2.13304704e-01 9.39463962e-01 2.68157728e-01 3.92878510e+01] [-5.27846849e-01 3.41784575e-01 -7.77535213e-01 -2.58638172e+01] [-8.22118487e-01 2.43057065e-02 5.68797350e-01 5.29989842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69420609899998 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:39.30, Y:-25.89, Z:53.01 [[ 2.16738675e-01 9.38966688e-01 2.67143979e-01 3.92970124e+01] [-5.28366196e-01 3.42932178e-01 -7.76676692e-01 -2.58936666e+01] [-8.20885808e-01 2.71860294e-02 5.70444923e-01 5.30083874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72420609899999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:39.30, Y:-25.92, Z:53.02 [[ 2.23831355e-01 9.37712172e-01 2.65697963e-01 3.93047075e+01] [-5.24042133e-01 3.45646243e-01 -7.78401257e-01 -2.59230665e+01] [-8.21753836e-01 3.49936812e-02 5.68767154e-01 5.30162384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.754206099 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:39.34, Y:-25.95, Z:53.03 [[ 1.74834459e-01 9.46213994e-01 2.72235174e-01 3.93371721e+01] [-5.45614848e-01 3.23265613e-01 -7.73177716e-01 -2.59454222e+01] [-8.19595845e-01 -1.33574453e-02 5.72786373e-01 5.30284489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.784206099 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:39.34, Y:-25.98, Z:53.04 [[ 1.95245842e-01 9.44195495e-01 2.65280847e-01 3.93389527e+01] [-5.37652227e-01 3.29264664e-01 -7.76218310e-01 -2.59767531e+01] [-8.20249440e-01 8.92455959e-03 5.71936367e-01 5.30408282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.814206099 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:39.35, Y:-26.01, Z:53.05 [[ 1.88848905e-01 9.45635119e-01 2.64783522e-01 3.93516519e+01] [-5.39547326e-01 3.25207298e-01 -7.76613737e-01 -2.60062271e+01] [-8.20502757e-01 3.79941218e-03 5.71629941e-01 5.30505367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.844206099 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:39.36, Y:-26.04, Z:53.06 [[ 1.88309259e-01 9.45769719e-01 2.64687102e-01 3.93618123e+01] [-5.39080343e-01 3.24817384e-01 -7.77101055e-01 -2.60358757e+01] [-8.20933619e-01 3.64770989e-03 5.71011986e-01 5.30609924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.874206099 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:39.37, Y:-26.07, Z:53.07 [[ 1.89474149e-01 9.45707627e-01 2.64076942e-01 3.93722753e+01] [-5.38441233e-01 3.24978232e-01 -7.77476808e-01 -2.60657932e+01] [-8.21085005e-01 5.12184226e-03 5.70782955e-01 5.30714905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90420609899996 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:39.38, Y:-26.09, Z:53.08 [[ 1.87725582e-01 9.46184349e-01 2.63617686e-01 3.93832680e+01] [-5.38424045e-01 3.23601869e-01 -7.78062579e-01 -2.60945686e+01] [-8.21497811e-01 4.12414922e-03 5.70196754e-01 5.30824633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.93420609899997 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:39.40, Y:-26.12, Z:53.09 [[ 1.83655224e-01 9.47062070e-01 2.63332857e-01 3.93950654e+01] [-5.38365958e-01 3.21047774e-01 -7.79160075e-01 -2.61231628e+01] [-8.22455381e-01 1.32737160e-03 5.68828080e-01 5.30937674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.96420609899997 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:39.40, Y:-26.15, Z:53.10 [[ 1.97443292e-01 9.44949547e-01 2.60933902e-01 3.93983724e+01] [-5.30653871e-01 3.26827418e-01 -7.82042396e-01 -2.61534747e+01] [-8.24270960e-01 1.59434398e-02 5.65971016e-01 5.31019983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.99420609899997 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:39.42, Y:-26.18, Z:53.11 [[ 1.58892206e-01 9.49371233e-01 2.71012045e-01 3.94245266e+01] [-5.44897912e-01 3.13231622e-01 -7.77799599e-01 -2.61768355e+01] [-8.23310107e-01 -2.40876037e-02 5.67080466e-01 5.31132452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.02420609899997 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:39.42, Y:-26.21, Z:53.12 [[ 1.85589983e-01 9.46874092e-01 2.62651504e-01 3.94224680e+01] [-5.36179071e-01 3.21579436e-01 -7.80447737e-01 -2.62077900e+01] [-8.23449064e-01 4.01504302e-03 5.67375993e-01 5.31201316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.05420609899997 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:39.44, Y:-26.24, Z:53.13 [[ 1.75527285e-01 9.48284136e-01 2.64475652e-01 3.94376072e+01] [-5.40415141e-01 3.17363222e-01 -7.79250961e-01 -2.62366596e+01] [-8.22886169e-01 -6.14684151e-03 5.68173009e-01 5.31305330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.08420609899997 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:39.45, Y:-26.27, Z:53.14 [[ 1.61593565e-01 9.50467649e-01 2.65516040e-01 3.94544315e+01] [-5.44141950e-01 3.10271618e-01 -7.79513349e-01 -2.62659486e+01] [-8.23284312e-01 -1.85140740e-02 5.67327217e-01 5.31436105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.11420609899997 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:39.46, Y:-26.30, Z:53.15 [[ 1.62354140e-01 9.50882346e-01 2.63560045e-01 3.94647017e+01] [-5.45781653e-01 3.09063262e-01 -7.78846767e-01 -2.62951980e+01] [-8.22048368e-01 -1.73972397e-02 5.69151839e-01 5.31532626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14420609899997 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:39.47, Y:-26.32, Z:53.16 [[ 1.69927867e-01 9.50126720e-01 2.61502840e-01 3.94706073e+01] [-5.43348383e-01 3.11715383e-01 -7.79490894e-01 -2.63234908e+01] [-8.22129585e-01 -9.62992050e-03 5.69218948e-01 5.31623013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.17420609899997 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:39.48, Y:-26.35, Z:53.17 [[ 1.76280972e-01 9.49687803e-01 2.58878536e-01 3.94787116e+01] [-5.43304253e-01 3.13180350e-01 -7.78934245e-01 -2.63548002e+01] [-8.20820022e-01 -3.33852386e-03 5.71177158e-01 5.31707660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20420609899998 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:39.50, Y:-26.38, Z:53.18 [[ 1.58301895e-01 9.51933516e-01 2.62227175e-01 3.94969804e+01] [-5.48076978e-01 3.05620106e-01 -7.78593589e-01 -2.63824506e+01] [-8.21311230e-01 -2.04678368e-02 5.70113087e-01 5.31821439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.23420609899998 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:39.50, Y:-26.41, Z:53.19 [[ 1.70479048e-01 9.50624462e-01 2.59326101e-01 3.95012821e+01] [-5.45154408e-01 3.10224404e-01 -7.78824428e-01 -2.64135190e+01] [-8.20818838e-01 -8.59952005e-03 5.71123877e-01 5.31921158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26420609899998 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:39.52, Y:-26.44, Z:53.20 [[ 1.58813380e-01 9.52225496e-01 2.60854204e-01 3.95158081e+01] [-5.49828734e-01 3.04745737e-01 -7.77700713e-01 -2.64408984e+01] [-8.20040654e-01 -1.99158574e-02 5.71958639e-01 5.32021027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29420609899998 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:39.52, Y:-26.47, Z:53.21 [[ 1.66219360e-01 9.51772335e-01 2.57876999e-01 3.95231626e+01] [-5.48575341e-01 3.06563809e-01 -7.77871279e-01 -2.64723176e+01] [-8.19412119e-01 -1.21676966e-02 5.73075673e-01 5.32122752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32420609899998 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:39.53, Y:-26.50, Z:53.22 [[ 1.65107731e-01 9.52193992e-01 2.57033147e-01 3.95337431e+01] [-5.49237992e-01 3.05228669e-01 -7.77928717e-01 -2.65024068e+01] [-8.19192936e-01 -1.27303246e-02 5.73376729e-01 5.32210759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35420609899998 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:39.56, Y:-26.53, Z:53.24 [[ 1.35714791e-01 9.55467809e-01 2.62035802e-01 3.95557620e+01] [-5.57273288e-01 2.92295929e-01 -7.77180528e-01 -2.65277349e+01] [-8.19162974e-01 -4.05506598e-02 5.72125568e-01 5.32371403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38420609899998 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:39.55, Y:-26.56, Z:53.24 [[ 1.80163378e-01 9.51334651e-01 2.50007077e-01 3.95458733e+01] [-5.43192034e-01 3.08120538e-01 -7.81027623e-01 -2.65644353e+01] [-8.20050956e-01 4.91072190e-03 5.72269442e-01 5.32432210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41420609899998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:39.57, Y:-26.59, Z:53.25 [[ 1.47636648e-01 9.55331888e-01 2.56016413e-01 3.95675583e+01] [-5.60714380e-01 2.94081296e-01 -7.74025565e-01 -2.65907558e+01] [-8.14740943e-01 -2.92775442e-02 5.79085504e-01 5.32508534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44420609899998 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:39.58, Y:-26.62, Z:53.26 [[ 1.35943163e-01 9.57035259e-01 2.56130768e-01 3.95805109e+01] [-5.57963801e-01 2.87589958e-01 -7.78439730e-01 -2.66203928e+01] [-8.18654905e-01 -3.70881377e-02 5.73086919e-01 5.32624310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47420609899999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:39.59, Y:-26.65, Z:53.27 [[ 1.38219471e-01 9.57207862e-01 2.54260667e-01 3.95899610e+01] [-5.58417474e-01 2.87347052e-01 -7.78204084e-01 -2.66515134e+01] [-8.17964121e-01 -3.44206424e-02 5.74238554e-01 5.32730524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.504206099 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:39.60, Y:-26.68, Z:53.29 [[ 1.55248143e-01 9.54975936e-01 2.52822023e-01 3.95982755e+01] [-5.52973159e-01 2.96081044e-01 -7.78817502e-01 -2.66823392e+01] [-8.18607781e-01 -1.88938223e-02 5.74042092e-01 5.32859963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.534206099 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:39.61, Y:-26.71, Z:53.29 [[ 1.56875760e-01 9.54592129e-01 2.53266388e-01 3.96115901e+01] [-5.54216904e-01 2.97347025e-01 -7.77449915e-01 -2.67112279e+01] [-8.17455577e-01 -1.84014676e-02 5.75697634e-01 5.32919401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.564206099 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:39.62, Y:-26.74, Z:53.30 [[ 1.56428987e-01 9.54966249e-01 2.52129798e-01 3.96228503e+01] [-5.55301451e-01 2.96140808e-01 -7.77136359e-01 -2.67415860e+01] [-8.16804916e-01 -1.84413889e-02 5.76619150e-01 5.33037800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.594206099 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:39.63, Y:-26.77, Z:53.31 [[ 1.65992104e-01 9.54223760e-01 2.48804416e-01 3.96303613e+01] [-5.55107540e-01 2.98949957e-01 -7.76198778e-01 -2.67743732e+01] [-8.15047386e-01 -9.27033886e-03 5.79320136e-01 5.33144079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.624206099 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:39.65, Y:-26.80, Z:53.33 [[ 1.50585324e-01 9.56077806e-01 2.51474231e-01 3.96475532e+01] [-5.61615394e-01 2.92073914e-01 -7.74132403e-01 -2.68019399e+01] [-8.13579873e-01 -2.46588202e-02 5.80930059e-01 5.33250663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65420609899996 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:39.65, Y:-26.83, Z:53.34 [[ 1.71926495e-01 9.53810317e-01 2.46347641e-01 3.96492597e+01] [-5.56112261e-01 3.00385901e-01 -7.74924166e-01 -2.68348200e+01] [-8.13130022e-01 -3.76694831e-03 5.82069907e-01 5.33366221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.68420609899997 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:39.66, Y:-26.86, Z:53.35 [[ 1.64098868e-01 9.54895195e-01 2.47480763e-01 3.96632023e+01] [-5.59728607e-01 2.96718192e-01 -7.73732642e-01 -2.68648829e+01] [-8.12265627e-01 -1.15534118e-02 5.83173276e-01 5.33477229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.71420609899997 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:39.67, Y:-26.89, Z:53.36 [[ 1.62720045e-01 9.55231768e-01 2.47092000e-01 3.96739833e+01] [-5.60858665e-01 2.95583913e-01 -7.73348374e-01 -2.68949491e+01] [-8.11763355e-01 -1.27444071e-02 5.83847442e-01 5.33618821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.74420609899997 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:39.68, Y:-26.93, Z:53.37 [[ 1.71500278e-01 9.54496856e-01 2.43974191e-01 3.96805964e+01] [-5.58954489e-01 2.98198311e-01 -7.73723236e-01 -2.69262347e+01] [-8.11269088e-01 -3.67671897e-03 5.84661396e-01 5.33732958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.77420609899997 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:39.70, Y:-26.95, Z:53.39 [[ 1.51106604e-01 9.56562429e-01 2.49309274e-01 3.96986765e+01] [-5.64865934e-01 2.90528080e-01 -7.72347014e-01 -2.69536465e+01] [-8.11229481e-01 -2.41195818e-02 5.84230242e-01 5.33898124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.80420609899997 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:39.69, Y:-26.99, Z:53.40 [[ 2.04038896e-01 9.50294009e-01 2.35179560e-01 3.96859999e+01] [-5.46963395e-01 3.09901121e-01 -7.77683959e-01 -2.69919295e+01] [-8.11910816e-01 3.00431663e-02 5.83007920e-01 5.34001585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.83420609899997 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:39.70, Y:-27.02, Z:53.41 [[ 1.86739387e-01 9.52712232e-01 2.39724434e-01 3.97033264e+01] [-5.53302687e-01 3.03628659e-01 -7.75671177e-01 -2.70193755e+01] [-8.11778627e-01 1.22081865e-02 5.83837667e-01 5.34124344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86420609899997 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:39.71, Y:-27.05, Z:53.43 [[ 1.86014283e-01 9.53009837e-01 2.39104450e-01 3.97131595e+01] [-5.52831682e-01 3.02692306e-01 -7.76372655e-01 -2.70496511e+01] [-8.12265854e-01 1.22318872e-02 5.83159123e-01 5.34271741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.89420609899997 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:39.72, Y:-27.08, Z:53.44 [[ 1.86743465e-01 9.52826104e-01 2.39268248e-01 3.97238387e+01] [-5.54871708e-01 3.03283213e-01 -7.74684891e-01 -2.70785892e+01] [-8.10706029e-01 1.19041594e-02 5.85332406e-01 5.34374730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92420609899997 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:39.74, Y:-27.11, Z:53.45 [[ 1.72937932e-01 9.54135565e-01 2.44372248e-01 3.97392333e+01] [-5.59435036e-01 2.99359433e-01 -7.72927145e-01 -2.71062368e+01] [-8.10632415e-01 -3.04197511e-03 5.85547465e-01 5.34518577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.95420609899998 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:39.74, Y:-27.14, Z:53.47 [[ 1.91635810e-01 9.51737135e-01 2.39733480e-01 3.97418015e+01] [-5.53274115e-01 3.06507666e-01 -7.74558457e-01 -2.71393710e+01] [-8.10656197e-01 1.57948082e-02 5.85309366e-01 5.34654590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98420609899998 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:39.75, Y:-27.17, Z:53.48 [[ 1.94305793e-01 9.51351784e-01 2.39113033e-01 3.97505348e+01] [-5.52724172e-01 3.07560875e-01 -7.74533600e-01 -2.71698484e+01] [-8.10395736e-01 1.83328126e-02 5.85595987e-01 5.34792659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.01420609899998 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:39.76, Y:-27.20, Z:53.49 [[ 2.02378305e-01 9.50431324e-01 2.36057874e-01 3.97577725e+01] [-5.50926506e-01 3.09779291e-01 -7.74930175e-01 -2.72008858e+01] [-8.09643753e-01 2.67785151e-02 5.86310416e-01 5.34889603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04420609899998 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] Translation: X:39.77, Y:-27.23, Z:53.50 [[ 1.99206907e-01 9.50971402e-01 2.36579799e-01 3.97689700e+01] [-5.55467529e-01 3.08465368e-01 -7.72207835e-01 -2.72308957e+01] [-8.07324242e-01 2.24167381e-02 5.89682166e-01 5.34980331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07420609899998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:39.78, Y:-27.26, Z:53.51 [[ 1.93137161e-01 9.52094606e-01 2.37094703e-01 3.97793004e+01] [-5.58278768e-01 3.05351417e-01 -7.71417740e-01 -2.72569888e+01] [-8.06859872e-01 1.66244938e-02 5.90508910e-01 5.35077068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10420609899998 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:39.79, Y:-27.29, Z:53.52 [[ 2.00174088e-01 9.50952957e-01 2.35836403e-01 3.97853417e+01] [-5.55571407e-01 3.08438616e-01 -7.72143790e-01 -2.72875150e+01] [-8.07013474e-01 2.35392163e-02 5.90063690e-01 5.35188772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13420609899998 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:39.80, Y:-27.32, Z:53.53 [[ 1.91944949e-01 9.52285827e-01 2.37294836e-01 3.97982203e+01] [-5.59218157e-01 3.04824933e-01 -7.70945402e-01 -2.73151129e+01] [-8.06493763e-01 1.52794952e-02 5.91045132e-01 5.35297144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16420609899998 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:39.81, Y:-27.34, Z:53.54 [[ 1.82678953e-01 9.53673298e-01 2.39030628e-01 3.98116277e+01] [-5.62644852e-01 3.00780717e-01 -7.70040084e-01 -2.73429722e+01] [-8.06262470e-01 6.18076412e-03 5.91525677e-01 5.35406664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19420609899998 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:39.82, Y:-27.37, Z:53.55 [[ 1.85569233e-01 9.53515453e-01 2.37428600e-01 3.98201795e+01] [-5.62736858e-01 3.01202340e-01 -7.69808014e-01 -2.73728426e+01] [-8.05537887e-01 9.24285887e-03 5.92472178e-01 5.35519793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22420609899999 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:39.83, Y:-27.40, Z:53.56 [[ 1.85457386e-01 9.53741283e-01 2.36607532e-01 3.98299764e+01] [-5.63759467e-01 3.00485043e-01 -7.69339979e-01 -2.74023270e+01] [-8.04848322e-01 9.29004520e-03 5.93407847e-01 5.35633193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.254206099 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:39.84, Y:-27.43, Z:53.58 [[ 1.92663721e-01 9.52982410e-01 2.33891466e-01 3.98365502e+01] [-5.62600419e-01 3.02568257e-01 -7.69371964e-01 -2.74323883e+01] [-8.03966081e-01 1.66426283e-02 5.94442229e-01 5.35753647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.284206099 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:39.85, Y:-27.46, Z:53.58 [[ 1.81149642e-01 9.54625973e-01 2.36376941e-01 3.98509333e+01] [-5.68412808e-01 2.97772245e-01 -7.66967124e-01 -2.74593973e+01] [-8.02553230e-01 4.57613939e-03 5.96562966e-01 5.35849269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.314206099 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:39.86, Y:-27.49, Z:53.60 [[ 1.81536831e-01 9.54789611e-01 2.35417031e-01 3.98593603e+01] [-5.69735457e-01 2.97240866e-01 -7.66191475e-01 -2.74879585e+01] [-8.01527222e-01 4.96654253e-03 5.97937660e-01 5.35956582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.344206099 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:39.87, Y:-27.52, Z:53.61 [[ 1.84762702e-01 9.54734547e-01 2.33119474e-01 3.98678332e+01] [-5.70713727e-01 2.97341160e-01 -7.65424116e-01 -2.75179846e+01] [-8.00092861e-01 8.37734463e-03 5.99817667e-01 5.36078078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37420609899996 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:39.88, Y:-27.55, Z:53.62 [[ 1.81630000e-01 9.55276914e-01 2.33359297e-01 3.98791305e+01] [-5.72182143e-01 2.95663075e-01 -7.64977739e-01 -2.75469330e+01] [-7.99761301e-01 5.41888410e-03 6.00293676e-01 5.36199371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40420609899996 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:39.89, Y:-27.58, Z:53.63 [[ 1.77925547e-01 9.55962440e-01 2.33405897e-01 3.98904141e+01] [-5.74299668e-01 2.93482680e-01 -7.64230206e-01 -2.75760457e+01] [-7.99075961e-01 1.93114828e-03 6.01226978e-01 5.36314915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.43420609899997 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:39.90, Y:-27.61, Z:53.64 [[ 1.82426562e-01 9.55452904e-01 2.32013572e-01 3.98981874e+01] [-5.72505267e-01 2.95067068e-01 -7.64966107e-01 -2.76064317e+01] [-7.99348653e-01 6.72114535e-03 6.00829891e-01 5.36433908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.46420609899997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:39.91, Y:-27.64, Z:53.65 [[ 1.84166082e-01 9.55810681e-01 2.29147980e-01 3.99072795e+01] [-5.78404755e-01 2.93884509e-01 -7.60972953e-01 -2.76384282e+01] [-7.94689118e-01 7.60512581e-03 6.06969001e-01 5.36532922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.49420609899997 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:39.92, Y:-27.66, Z:53.66 [[ 1.63389420e-01 9.57827947e-01 2.36367343e-01 3.99245877e+01] [-5.82002483e-01 2.87036571e-01 -7.60843687e-01 -2.76611341e+01] [-7.96603419e-01 -1.32525719e-02 6.04356983e-01 5.36645570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.52420609899997 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:39.93, Y:-27.69, Z:53.68 [[ 1.77082861e-01 9.56624238e-01 2.31326021e-01 3.99272708e+01] [-5.77061082e-01 2.91320169e-01 -7.62976453e-01 -2.76914065e+01] [-7.97271703e-01 1.62080898e-03 6.03618426e-01 5.36777396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.55420609899997 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:39.94, Y:-27.72, Z:53.69 [[ 1.71919415e-01 9.57480644e-01 2.31677644e-01 3.99389979e+01] [-5.79778132e-01 2.88478414e-01 -7.61995750e-01 -2.77201733e+01] [-7.96430181e-01 -3.31976849e-03 6.04721379e-01 5.36892120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.58420609899997 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:39.95, Y:-27.75, Z:53.70 [[ 1.78402478e-01 9.56632018e-01 2.30277523e-01 3.99462201e+01] [-5.81682867e-01 2.91295043e-01 -7.59468393e-01 -2.77499094e+01] [-7.93610482e-01 1.54255321e-03 6.08424213e-01 5.36981252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.61420609899997 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:39.95, Y:-27.78, Z:53.71 [[ 1.81609369e-01 9.56481039e-01 2.28390145e-01 3.99546533e+01] [-5.81806219e-01 2.91751664e-01 -7.59198584e-01 -2.77804084e+01] [-7.92792255e-01 4.99876934e-03 6.09471453e-01 5.37101576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64420609899997 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:39.97, Y:-27.81, Z:53.72 [[ 1.73101924e-01 9.58064490e-01 2.28359709e-01 3.99673697e+01] [-5.84620412e-01 2.86544857e-01 -7.59019775e-01 -2.78091894e+01] [-7.92625194e-01 -2.11596369e-03 6.09705523e-01 5.37230030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.67420609899997 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:39.98, Y:-27.84, Z:53.74 [[ 1.76361326e-01 9.57860437e-01 2.26715825e-01 3.99751741e+01] [-5.83926031e-01 2.87229972e-01 -7.59295288e-01 -2.78383019e+01] [-7.92418496e-01 1.52505151e-03 6.09975902e-01 5.37357026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70420609899998 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:39.98, Y:-27.87, Z:53.75 [[ 1.78637343e-01 9.57928329e-01 2.24637521e-01 3.99824961e+01] [-5.85034455e-01 2.86978485e-01 -7.58536773e-01 -2.78677490e+01] [-7.91089999e-01 4.08230414e-03 6.11686152e-01 5.37460664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.73420609899998 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:40.00, Y:-27.89, Z:53.76 [[ 1.65089616e-01 9.59652963e-01 2.27621634e-01 3.99987943e+01] [-5.89460632e-01 2.81038321e-01 -7.57333232e-01 -2.78943332e+01] [-7.90747483e-01 -9.14613961e-03 6.12074151e-01 5.37579111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76420609899998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:40.00, Y:-27.93, Z:53.77 [[ 1.82201992e-01 9.57699632e-01 2.22741665e-01 4.00009558e+01] [-5.85913921e-01 2.87671247e-01 -7.57594965e-01 -2.79258706e+01] [-7.89624791e-01 7.52786934e-03 6.13543821e-01 5.37698015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79420609899998 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:40.02, Y:-27.95, Z:53.78 [[ 1.63487340e-01 9.60507430e-01 2.25160756e-01 4.00175065e+01] [-5.91878947e-01 2.78089238e-01 -7.56535318e-01 -2.79512732e+01] [-7.89272577e-01 -9.58396433e-03 6.13968196e-01 5.37818136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82420609899998 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:40.02, Y:-27.98, Z:53.79 [[ 1.74603476e-01 9.59434523e-01 2.21357230e-01 4.00220022e+01] [-5.89439915e-01 2.81926413e-01 -7.57019210e-01 -2.79818220e+01] [-7.88716814e-01 1.70139874e-03 6.14754335e-01 5.37941351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85420609899998 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:40.03, Y:-28.01, Z:53.81 [[ 1.75189508e-01 9.59115930e-01 2.22272961e-01 4.00308643e+01] [-5.90637166e-01 2.83011330e-01 -7.55680041e-01 -2.80114425e+01] [-7.87690532e-01 1.10454283e-03 6.16070131e-01 5.38057593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88420609899998 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:40.04, Y:-28.04, Z:53.82 [[ 1.74973635e-01 9.59857812e-01 2.19219543e-01 4.00398647e+01] [-5.90930462e-01 2.80473007e-01 -7.56396775e-01 -2.80413106e+01] [-7.87518518e-01 2.80598712e-03 6.16284602e-01 5.38184068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91420609899998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:40.05, Y:-28.07, Z:53.83 [[ 1.74296826e-01 9.59695462e-01 2.20465953e-01 4.00489678e+01] [-5.91274389e-01 2.81038547e-01 -7.55917940e-01 -2.80699117e+01] [-7.87410448e-01 1.39822663e-03 6.16427475e-01 5.38309004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94420609899998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:40.06, Y:-28.10, Z:53.85 [[ 1.63863157e-01 9.61701021e-01 2.19727129e-01 4.00627953e+01] [-5.96010430e-01 2.74003946e-01 -7.54780369e-01 -2.80981304e+01] [-7.86079152e-01 -7.27896636e-03 6.18082991e-01 5.38474785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97420609899999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:40.06, Y:-28.13, Z:53.86 [[ 1.84965061e-01 9.59151634e-01 2.14046883e-01 4.00622213e+01] [-5.87576727e-01 2.82521640e-01 -7.58244758e-01 -2.81306325e+01] [-7.87744575e-01 1.44798211e-02 6.15831810e-01 5.38565138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.004206099 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:40.08, Y:-28.16, Z:53.87 [[ 1.74570003e-01 9.60527520e-01 2.16592240e-01 4.00763577e+01] [-5.91655642e-01 2.78156987e-01 -7.56685068e-01 -2.81591110e+01] [-7.87063476e-01 3.94649364e-03 6.16859393e-01 5.38686800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.034206099 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:40.09, Y:-28.19, Z:53.88 [[ 1.76250604e-01 9.60557699e-01 2.15092145e-01 4.00851426e+01] [-5.94606665e-01 2.78034522e-01 -7.54413493e-01 -2.81893287e+01] [-7.84460731e-01 5.07061119e-03 6.20157762e-01 5.38818168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.064206099 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:40.10, Y:-28.22, Z:53.89 [[ 1.72837037e-01 9.61156261e-01 2.15188292e-01 4.00955351e+01] [-5.96319701e-01 2.75997792e-01 -7.53809016e-01 -2.82181915e+01] [-7.83919749e-01 1.96509872e-03 6.20859055e-01 5.38941926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.094206099 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:40.11, Y:-28.25, Z:53.91 [[ 1.63332740e-01 9.62917524e-01 2.14737650e-01 4.01097090e+01] [-6.01607072e-01 2.69720447e-01 -7.51877524e-01 -2.82473241e+01] [-7.81915178e-01 -6.38147274e-03 6.23352172e-01 5.39085696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12420609899996 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:40.11, Y:-28.28, Z:53.92 [[ 1.72637187e-01 9.61760519e-01 2.12633737e-01 4.01122558e+01] [-5.99711486e-01 2.73882244e-01 -7.51887392e-01 -2.82757442e+01] [-7.81372213e-01 2.28482996e-03 6.24061090e-01 5.39181409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15420609899996 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:40.12, Y:-28.31, Z:53.93 [[ 1.73915221e-01 9.61694327e-01 2.11890343e-01 4.01211320e+01] [-6.01121004e-01 2.74105620e-01 -7.50679457e-01 -2.83056845e+01] [-7.80004509e-01 3.18284855e-03 6.25765799e-01 5.39309219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.18420609899997 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:40.13, Y:-28.34, Z:53.94 [[ 1.73352757e-01 9.61978698e-01 2.11058775e-01 4.01315919e+01] [-6.02311155e-01 2.73109016e-01 -7.50088487e-01 -2.83353289e+01] [-7.79211200e-01 2.90685291e-03 6.26754701e-01 5.39445534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.21420609899997 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:40.14, Y:-28.36, Z:53.96 [[ 1.68657370e-01 9.62729966e-01 2.11437234e-01 4.01430785e+01] [-6.02940656e-01 2.70462942e-01 -7.50541380e-01 -2.83642817e+01] [-7.79754613e-01 -8.99769469e-04 6.26084606e-01 5.39552149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.24420609899997 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:40.16, Y:-28.39, Z:53.96 [[ 1.50221111e-01 9.65639939e-01 2.12068682e-01 4.01590265e+01] [-6.04048608e-01 2.59455949e-01 -7.53530285e-01 -2.83923431e+01] [-7.82661419e-01 -1.49036358e-02 6.22269222e-01 5.39649580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.27420609899997 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:40.16, Y:-28.42, Z:53.98 [[ 1.68508904e-01 9.63141797e-01 2.09672669e-01 4.01594782e+01] [-5.99039878e-01 2.68990102e-01 -7.54185355e-01 -2.84236498e+01] [-7.82787311e-01 1.48465785e-03 6.22287572e-01 5.39798440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.30420609899997 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:40.18, Y:-28.45, Z:53.99 [[ 1.49842716e-01 9.65777551e-01 2.11709430e-01 4.01771806e+01] [-6.03196100e-01 2.58956965e-01 -7.54384355e-01 -2.84521546e+01] [-7.83391107e-01 -1.46633018e-02 6.21356067e-01 5.39930359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.33420609899997 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:40.18, Y:-28.48, Z:54.01 [[ 1.66788384e-01 9.63614826e-01 2.08873411e-01 4.01796776e+01] [-5.99110361e-01 2.67293688e-01 -7.54732310e-01 -2.84834514e+01] [-7.83101788e-01 7.42357495e-04 6.21893109e-01 5.40072035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36420609899997 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] Translation: X:40.19, Y:-28.51, Z:54.02 [[ 1.54694858e-01 9.65667867e-01 2.08698520e-01 4.01932823e+01] [-6.07085373e-01 2.59566973e-01 -7.51047492e-01 -2.85127025e+01] [-7.79433673e-01 -1.05146340e-02 6.26396513e-01 5.40210570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.39420609899997 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:40.19, Y:-28.54, Z:54.03 [[ 1.70595092e-01 9.63822075e-01 2.04803129e-01 4.01949594e+01] [-6.03426279e-01 2.66506232e-01 -7.51565802e-01 -2.85440328e+01] [-7.78957021e-01 4.62984714e-03 6.27060223e-01 5.40344322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42420609899997 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:40.20, Y:-28.57, Z:54.05 [[ 1.70380716e-01 9.63917605e-01 2.04531815e-01 4.02032653e+01] [-6.03486846e-01 2.66160459e-01 -7.51639699e-01 -2.85735551e+01] [-7.78957020e-01 4.63265019e-03 6.27060205e-01 5.40479357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.45420609899998 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:40.21, Y:-28.60, Z:54.07 [[ 1.73626869e-01 9.63124492e-01 2.05535697e-01 4.02088457e+01] [-5.94349470e-01 2.68890648e-01 -7.57922507e-01 -2.86009778e+01] [-7.85240356e-01 9.43567893e-03 6.19119173e-01 5.40659482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48420609899998 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:40.21, Y:-28.63, Z:54.07 [[ 1.90237096e-01 9.61077498e-01 2.00349421e-01 4.02106765e+01] [-5.91406864e-01 2.75079842e-01 -7.58003300e-01 -2.86345493e+01] [-7.83612001e-01 2.57123243e-02 6.20718219e-01 5.40743922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51420609899998 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:40.24, Y:-28.66, Z:54.09 [[ 1.45326264e-01 9.66661565e-01 2.10821478e-01 4.02382679e+01] [-6.03684644e-01 2.55457283e-01 -7.55186352e-01 -2.86580708e+01] [-7.83865503e-01 -1.75212774e-02 6.20683396e-01 5.40921549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54420609899998 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:40.23, Y:-28.69, Z:54.10 [[ 1.80602186e-01 9.63191039e-01 1.99112714e-01 4.02334295e+01] [-6.01989658e-01 2.68343589e-01 -7.52063940e-01 -2.86915279e+01] [-7.77811868e-01 1.59605971e-02 6.28294483e-01 5.41001840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57420609899998 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:40.25, Y:-28.72, Z:54.11 [[ 1.66845023e-01 9.64730651e-01 2.03611172e-01 4.02472495e+01] [-6.05586725e-01 2.63231452e-01 -7.50981971e-01 -2.87159510e+01] [-7.78092191e-01 1.99338139e-03 6.28146933e-01 5.41118143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60420609899998 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:40.25, Y:-28.75, Z:54.12 [[ 1.73810394e-01 9.64081040e-01 2.00842463e-01 4.02531231e+01] [-6.06735994e-01 2.65476310e-01 -7.49262146e-01 -2.87466304e+01] [-7.75668345e-01 8.37119694e-03 6.31085210e-01 5.41227905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63420609899998 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:40.27, Y:-28.77, Z:54.14 [[ 1.60327107e-01 9.65921631e-01 2.03200940e-01 4.02670171e+01] [-6.10028544e-01 2.58805533e-01 -7.48922474e-01 -2.87742523e+01] [-7.75989945e-01 -3.88579960e-03 6.30733308e-01 5.41377149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66420609899998 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:40.28, Y:-28.80, Z:54.15 [[ 1.47959057e-01 9.67564655e-01 2.04760240e-01 4.02810597e+01] [-6.15037741e-01 2.52153912e-01 -7.47092352e-01 -2.88011984e+01] [-7.74491249e-01 -1.53961954e-02 6.32397234e-01 5.41539887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69420609899998 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:40.28, Y:-28.83, Z:54.17 [[ 1.71881825e-01 9.64982402e-01 1.98155502e-01 4.02793393e+01] [-6.07870251e-01 2.62180959e-01 -7.49503104e-01 -2.88335047e+01] [-7.75209905e-01 8.37312655e-03 6.31648236e-01 5.41687117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72420609899999 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:40.28, Y:-28.87, Z:54.18 [[ 1.95912556e-01 9.61811605e-01 1.91145772e-01 4.02773153e+01] [-6.03461897e-01 2.71892788e-01 -7.49605263e-01 -2.88664641e+01] [-7.72950199e-01 3.15078934e-02 6.33683867e-01 5.41764221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.754206099 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:40.30, Y:-28.89, Z:54.19 [[ 1.65118521e-01 9.65829046e-01 1.99775192e-01 4.02985677e+01] [-6.13506085e-01 2.59179255e-01 -7.45946645e-01 -2.88919606e+01] [-7.72234522e-01 6.06310930e-04 6.35337292e-01 5.41879829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.784206099 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:40.31, Y:-28.92, Z:54.20 [[ 1.60778204e-01 9.66761368e-01 1.98803485e-01 4.03085161e+01] [-6.14489477e-01 2.55671203e-01 -7.46347719e-01 -2.89214224e+01] [-7.72368469e-01 -2.16620354e-03 6.35171045e-01 5.42007426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.814206099 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:40.32, Y:-28.95, Z:54.21 [[ 1.59823953e-01 9.67163493e-01 1.97613467e-01 4.03172158e+01] [-6.14419423e-01 2.54146833e-01 -7.46925806e-01 -2.89505826e+01] [-7.72622208e-01 -2.04091745e-03 6.34862787e-01 5.42147072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.844206099 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:40.33, Y:-28.98, Z:54.23 [[ 1.40325917e-01 9.69395298e-01 2.01448237e-01 4.03331002e+01] [-6.19854926e-01 2.44669206e-01 -7.45598317e-01 -2.89777996e+01] [-7.72067684e-01 -2.02419145e-02 6.35217881e-01 5.42305104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87420609899996 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:40.32, Y:-29.01, Z:54.24 [[ 1.82944778e-01 9.64525540e-01 1.90319968e-01 4.03227128e+01] [-6.09227157e-01 2.63160530e-01 -7.48056687e-01 -2.90134897e+01] [-7.71604483e-01 2.09049713e-02 6.35758998e-01 5.42388867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90420609899996 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:40.34, Y:-29.04, Z:54.25 [[ 1.55571434e-01 9.68044585e-01 1.96690648e-01 4.03426840e+01] [-6.17353373e-01 2.50719497e-01 -7.45663830e-01 -2.90406316e+01] [-7.71150013e-01 -5.42364343e-03 6.36630381e-01 5.42520730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.93420609899997 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:40.35, Y:-29.07, Z:54.27 [[ 1.48250928e-01 9.69276081e-01 1.96279240e-01 4.03520694e+01] [-6.19940403e-01 2.45719898e-01 -7.45181607e-01 -2.90681253e+01] [-7.70516423e-01 -1.12075663e-02 6.37321608e-01 5.42654065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.96420609899997 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:40.36, Y:-29.10, Z:54.28 [[ 1.50472323e-01 9.69228051e-01 1.94820598e-01 4.03596839e+01] [-6.20165849e-01 2.46009540e-01 -7.44898400e-01 -2.90983487e+01] [-7.69904150e-01 -8.73448872e-03 6.38099764e-01 5.42789192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.99420609899997 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:40.38, Y:-29.12, Z:54.30 [[ 1.35668228e-01 9.70842915e-01 1.97631392e-01 4.03771820e+01] [-6.28022070e-01 2.38549740e-01 -7.40730923e-01 -2.91228727e+01] [-7.66278286e-01 -2.36232246e-02 6.42074398e-01 5.42992601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.02420609899997 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:40.36, Y:-29.16, Z:54.31 [[ 1.97617539e-01 9.62277297e-01 1.87001904e-01 4.03642788e+01] [-6.16538534e-01 2.70317328e-01 -7.39465198e-01 -2.91566663e+01] [-7.62120427e-01 3.08374123e-02 6.46700479e-01 5.43119991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.05420609899997 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:40.39, Y:-29.18, Z:54.33 [[ 1.41297303e-01 9.70744034e-01 1.94141939e-01 4.03897219e+01] [-6.33424433e-01 2.39363757e-01 -7.35852213e-01 -2.91782999e+01] [-7.60794690e-01 -1.90003141e-02 6.48714443e-01 5.43331583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.08420609899997 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:40.38, Y:-29.21, Z:54.34 [[ 1.86380439e-01 9.65025003e-01 1.84361264e-01 4.03802827e+01] [-6.22096244e-01 2.61157771e-01 -7.38100861e-01 -2.92130779e+01] [-7.60433163e-01 2.28771127e-02 6.49013130e-01 5.43391261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.11420609899997 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:40.40, Y:-29.24, Z:54.35 [[ 1.61238311e-01 9.68329384e-01 1.90631610e-01 4.03988471e+01] [-6.29446588e-01 2.49672565e-01 -7.35840066e-01 -2.92388281e+01] [-7.60131041e-01 -1.34680698e-03 6.49768410e-01 5.43518377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14420609899997 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:40.41, Y:-29.26, Z:54.37 [[ 1.42099728e-01 9.70733750e-01 1.93606956e-01 4.04146889e+01] [-6.36695723e-01 2.39396904e-01 -7.33012741e-01 -2.92636263e+01] [-7.57909113e-01 -1.91078096e-02 6.52080262e-01 5.43700842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.17420609899997 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:40.40, Y:-29.30, Z:54.38 [[ 2.01580611e-01 9.63420775e-01 1.76594643e-01 4.03975045e+01] [-6.24347428e-01 2.65307347e-01 -7.34712393e-01 -2.92998488e+01] [-7.54689040e-01 3.78473621e-02 6.54990100e-01 5.43766089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20420609899998 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:40.42, Y:-29.33, Z:54.39 [[ 1.70858894e-01 9.67471999e-01 1.86561438e-01 4.04177305e+01] [-6.32477848e-01 2.52878582e-01 -7.32136732e-01 -2.93253264e+01] [-7.55499180e-01 7.09609608e-03 6.55111162e-01 5.43893728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.23420609899998 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:40.44, Y:-29.35, Z:54.40 [[ 1.41815997e-01 9.70873578e-01 1.93113228e-01 4.04379692e+01] [-6.39894609e-01 2.38757376e-01 -7.30431246e-01 -2.93498851e+01] [-7.55263605e-01 -1.99852783e-02 6.55116384e-01 5.44018638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26420609899998 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:40.43, Y:-29.38, Z:54.42 [[ 1.69806949e-01 9.67970117e-01 1.84930941e-01 4.04344646e+01] [-6.33677796e-01 2.50965846e-01 -7.31757197e-01 -2.93825784e+01] [-7.54730450e-01 7.07082599e-03 6.55996914e-01 5.44163650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29420609899998 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:40.44, Y:-29.41, Z:54.43 [[ 1.69913970e-01 9.68239825e-01 1.83414513e-01 4.04426472e+01] [-6.34606564e-01 2.49899547e-01 -7.31317117e-01 -2.94128601e+01] [-7.53925561e-01 7.86494084e-03 6.56912772e-01 5.44300612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32420609899998 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:40.45, Y:-29.45, Z:54.44 [[ 1.80106654e-01 9.67192212e-01 1.79167012e-01 4.04461902e+01] [-6.34287371e-01 2.53414057e-01 -7.30384040e-01 -2.94456267e+01] [-7.51825195e-01 1.79036528e-02 6.59119363e-01 5.44408796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35420609899998 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:40.46, Y:-29.47, Z:54.46 [[ 1.60857276e-01 9.69601445e-01 1.84385399e-01 4.04619949e+01] [-6.38612598e-01 2.44689366e-01 -7.29589654e-01 -2.94714369e+01] [-7.52528329e-01 -3.91034088e-04 6.58559763e-01 5.44553798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38420609899998 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:40.47, Y:-29.50, Z:54.47 [[ 1.68418624e-01 9.68840164e-01 1.81614713e-01 4.04658780e+01] [-6.36852996e-01 2.47578894e-01 -7.30152692e-01 -2.95002998e+01] [-7.52365223e-01 7.30943757e-03 6.58705657e-01 5.44690845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41420609899998 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:40.47, Y:-29.53, Z:54.48 [[ 1.80500295e-01 9.67220665e-01 1.78616432e-01 4.04691922e+01] [-6.35164388e-01 2.53280398e-01 -7.29667897e-01 -2.95305680e+01] [-7.50989909e-01 1.82544740e-02 6.60061308e-01 5.44813660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44420609899998 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:40.48, Y:-29.56, Z:54.49 [[ 1.75843165e-01 9.67903368e-01 1.79561274e-01 4.04795240e+01] [-6.38713317e-01 2.50975039e-01 -7.27362928e-01 -2.95588299e+01] [-7.49082426e-01 1.32136219e-02 6.62345016e-01 5.44917888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47420609899999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:40.49, Y:-29.59, Z:54.51 [[ 1.82714407e-01 9.67441887e-01 1.75133211e-01 4.04861129e+01] [-6.44357514e-01 2.52375349e-01 -7.21879545e-01 -2.95911104e+01] [-7.42575814e-01 1.90493925e-02 6.69491061e-01 5.45052319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.504206099 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:40.49, Y:-29.62, Z:54.52 [[ 1.75827742e-01 9.67805081e-01 1.80105331e-01 4.04937579e+01] [-6.41126068e-01 2.51413699e-01 -7.25085179e-01 -2.96167684e+01] [-7.47022068e-01 1.20198669e-02 6.64690569e-01 5.45172682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.534206099 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:40.51, Y:-29.64, Z:54.54 [[ 1.49318575e-01 9.70894174e-01 1.87265762e-01 4.05122610e+01] [-6.49123096e-01 2.39114899e-01 -7.22124138e-01 -2.96407908e+01] [-7.45884153e-01 -1.37319842e-02 6.65934128e-01 5.45357380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.564206099 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:40.47, Y:-29.69, Z:54.54 [[ 0.25932676 0.95275767 0.15812164 40.47249394] [ -0.61971171 0.28972817 -0.72939357 -29.68599324] [ -0.74074761 0.09116144 0.66556935 54.54331443] [ 0. 0. 0. 1. ]] SLAMing on 132.594206099 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:40.53, Y:-29.70, Z:54.56 [[ 1.50636398e-01 9.70856620e-01 1.86403055e-01 4.05265918e+01] [-6.48799050e-01 2.39353994e-01 -7.22336112e-01 -2.97006368e+01] [-7.45901111e-01 -1.21280147e-02 6.65946276e-01 5.45613946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62420609899996 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:40.52, Y:-29.73, Z:54.57 [[ 1.77285179e-01 9.67800643e-01 1.78694940e-01 4.05221487e+01] [-6.50087538e-01 2.51479520e-01 -7.17038523e-01 -2.97323920e+01] [-7.38888461e-01 1.09529493e-02 6.73738729e-01 5.45686914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65420609899996 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:40.53, Y:-29.76, Z:54.59 [[ 1.65860717e-01 9.69486261e-01 1.80517625e-01 4.05349776e+01] [-6.47353506e-01 2.45129174e-01 -7.21696007e-01 -2.97593924e+01] [-7.43924500e-01 2.84229976e-03 6.68257630e-01 5.45851082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.68420609899997 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:40.53, Y:-29.79, Z:54.60 [[ 1.89101772e-01 9.66594461e-01 1.73019269e-01 4.05334921e+01] [-6.42913125e-01 2.55055182e-01 -7.22225428e-01 -2.97910298e+01] [-7.42228559e-01 2.53377493e-02 6.69667652e-01 5.45969212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.71420609899997 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:40.56, Y:-29.82, Z:54.60 [[ 1.34228568e-01 9.72755330e-01 1.89023173e-01 4.05642684e+01] [-6.68723195e-01 2.29686204e-01 -7.07144636e-01 -2.98153500e+01] [-7.31294728e-01 -3.14851684e-02 6.81334503e-01 5.46048593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.74420609899997 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:40.55, Y:-29.85, Z:54.62 [[ 1.92773720e-01 9.66295456e-01 1.70620585e-01 4.05455362e+01] [-6.44202888e-01 2.55792465e-01 -7.20814022e-01 -2.98493561e+01] [-7.40162774e-01 2.90397267e-02 6.71800388e-01 5.46235312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.77420609899997 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:40.57, Y:-29.87, Z:54.64 [[ 1.55083346e-01 9.71124507e-01 1.81290782e-01 4.05685212e+01] [-6.54099218e-01 2.38462825e-01 -7.17836816e-01 -2.98724089e+01] [-7.40340036e-01 -7.25762321e-03 6.72193393e-01 5.46369167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.80420609899997 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:40.57, Y:-29.90, Z:54.65 [[ 1.70475404e-01 9.69559426e-01 1.75763066e-01 4.05694763e+01] [-6.52163341e-01 2.44735406e-01 -7.17486974e-01 -2.99023916e+01] [-7.38661704e-01 7.68765284e-03 6.74032482e-01 5.46503011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.83420609899997 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:40.58, Y:-29.93, Z:54.67 [[ 1.54464291e-01 9.71586693e-01 1.79332318e-01 4.05839681e+01] [-6.55746534e-01 2.36584739e-01 -7.16954771e-01 -2.99285815e+01] [-7.39011005e-01 -6.85263631e-03 6.73658501e-01 5.46661236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86420609899997 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:40.59, Y:-29.96, Z:54.68 [[ 1.63060119e-01 9.70860317e-01 1.75617889e-01 4.05873790e+01] [-6.55126060e-01 2.39639458e-01 -7.16507345e-01 -2.99587731e+01] [-7.37713524e-01 1.78191757e-03 6.75111533e-01 5.46785216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.89420609899997 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:40.60, Y:-29.99, Z:54.70 [[ 1.54294010e-01 9.72168040e-01 1.76302751e-01 4.05981501e+01] [-6.55910083e-01 2.34232974e-01 -7.17577088e-01 -2.99859711e+01] [-7.38901429e-01 -4.92090578e-03 6.73795564e-01 5.46966080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92420609899997 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:40.60, Y:-30.02, Z:54.71 [[ 1.75535467e-01 9.69435795e-01 1.71410441e-01 4.05968443e+01] [-6.51108008e-01 2.44916586e-01 -7.18383065e-01 -3.00167836e+01] [-7.38407518e-01 1.44949959e-02 6.74198956e-01 5.47080262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.95420609899998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:40.61, Y:-30.04, Z:54.72 [[ 1.61063644e-01 9.71235060e-01 1.75388030e-01 4.06101940e+01] [-6.54370252e-01 2.38121343e-01 -7.17703141e-01 -3.00437451e+01] [-7.38822087e-01 8.27173761e-04 6.73900022e-01 5.47223769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98420609899998 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:40.62, Y:-30.07, Z:54.74 [[ 1.61729250e-01 9.71182297e-01 1.75067404e-01 4.06173464e+01] [-6.54939961e-01 2.38334230e-01 -7.17112573e-01 -3.00727060e+01] [-7.38171591e-01 1.31943957e-03 6.74611712e-01 5.47362929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01420609899998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:40.63, Y:-30.10, Z:54.75 [[ 1.55895903e-01 9.72164804e-01 1.74905865e-01 4.06266976e+01] [-6.56460029e-01 2.34278468e-01 -7.17059154e-01 -3.01009099e+01] [-7.38076350e-01 -3.03212418e-03 6.74710388e-01 5.47501739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04420609899998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:40.63, Y:-30.13, Z:54.76 [[ 1.59725273e-01 9.71889157e-01 1.72971972e-01 4.06323790e+01] [-6.56051412e-01 2.35436525e-01 -7.17053824e-01 -3.01294098e+01] [-7.37620757e-01 1.05311135e-03 6.75214418e-01 5.47642261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07420609899998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:40.64, Y:-30.16, Z:54.78 [[ 1.61634832e-01 9.71679809e-01 1.72373227e-01 4.06384276e+01] [-6.55792984e-01 2.36284171e-01 -7.17011404e-01 -3.01586207e+01] [-7.37434569e-01 2.85286482e-03 6.75412554e-01 5.47782440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10420609899998 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:40.65, Y:-30.18, Z:54.79 [[ 1.48818904e-01 9.73409489e-01 1.74146204e-01 4.06504648e+01] [-6.57388382e-01 2.28944529e-01 -7.17930998e-01 -3.01849826e+01] [-7.38710666e-01 -7.63998698e-03 6.73979363e-01 5.47938478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13420609899998 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:40.66, Y:-30.21, Z:54.81 [[ 1.53504966e-01 9.73293238e-01 1.70694165e-01 4.06551062e+01] [-6.56602398e-01 2.29558406e-01 -7.18454055e-01 -3.02141787e+01] [-7.38450754e-01 -1.79193255e-03 6.74305030e-01 5.48087013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16420609899998 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:40.66, Y:-30.24, Z:54.83 [[ 1.56269736e-01 9.73165557e-01 1.68904023e-01 4.06615022e+01] [-6.55862494e-01 2.30100683e-01 -7.18956233e-01 -3.02429401e+01] [-7.38528374e-01 1.57328690e-03 6.74220562e-01 5.48257061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19420609899998 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:40.66, Y:-30.27, Z:54.84 [[ 1.68822404e-01 9.71534668e-01 1.66190809e-01 4.06634455e+01] [-6.52915500e-01 2.36542257e-01 -7.19547852e-01 -3.02719592e+01] [-7.38376832e-01 1.29672431e-02 6.74263676e-01 5.48373514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22420609899999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:40.68, Y:-30.30, Z:54.85 [[ 1.39977504e-01 9.75047952e-01 1.72301450e-01 4.06825978e+01] [-6.59209094e-01 2.21613370e-01 -7.18561678e-01 -3.02973640e+01] [-7.38816397e-01 -1.30002129e-02 6.73781363e-01 5.48535020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.254206099 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:40.68, Y:-30.33, Z:54.87 [[ 1.60345686e-01 9.72934870e-01 1.66394110e-01 4.06811016e+01] [-6.54767212e-01 2.30989572e-01 -7.19669171e-01 -3.03281010e+01] [-7.38626536e-01 6.44643939e-03 6.74084033e-01 5.48698778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.284206099 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:40.68, Y:-30.36, Z:54.88 [[ 1.69353387e-01 9.71656116e-01 1.64935814e-01 4.06836993e+01] [-6.52007617e-01 2.35954274e-01 -7.20563424e-01 -3.03574374e+01] [-7.39057168e-01 1.44904493e-02 6.73486844e-01 5.48811372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.314206099 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:40.70, Y:-30.39, Z:54.89 [[ 1.54600376e-01 9.73556894e-01 1.68183525e-01 4.06969259e+01] [-6.56483987e-01 2.28443503e-01 -7.18917478e-01 -3.03850864e+01] [-7.38327501e-01 7.35121146e-04 6.74441963e-01 5.48945822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.344206099 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:40.70, Y:-30.41, Z:54.91 [[ 1.53816565e-01 9.73689396e-01 1.68135138e-01 4.07044622e+01] [-6.56710567e-01 2.27879210e-01 -7.18889628e-01 -3.04136745e+01] [-7.38289710e-01 1.61011145e-04 6.74483712e-01 5.49099231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37420609899996 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:40.71, Y:-30.44, Z:54.92 [[ 1.52611475e-01 9.74001719e-01 1.67422783e-01 4.07118230e+01] [-6.56716456e-01 2.26540549e-01 -7.19307220e-01 -3.04420608e+01] [-7.38534518e-01 -1.74760562e-04 6.74215645e-01 5.49239551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40420609899996 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:40.72, Y:-30.47, Z:54.94 [[ 1.47879152e-01 9.74690243e-01 1.67662422e-01 4.07208649e+01] [-6.58226339e-01 2.23522925e-01 -7.18871052e-01 -3.04698160e+01] [-7.38152995e-01 -4.05378055e-03 6.74621170e-01 5.49392528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.43420609899997 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:40.73, Y:-30.50, Z:54.96 [[ 1.46946294e-01 9.75229011e-01 1.65333489e-01 4.07278514e+01] [-6.58253608e-01 2.21175969e-01 -7.19571663e-01 -3.04982525e+01] [-7.38314956e-01 -3.09297666e-03 6.74449004e-01 5.49572770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.46420609899997 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:40.73, Y:-30.53, Z:54.97 [[ 1.66982688e-01 9.72706105e-01 1.61119880e-01 4.07268300e+01] [-6.53079406e-01 2.31543890e-01 -7.21023381e-01 -3.05293803e+01] [-7.38650168e-01 1.51743461e-02 6.73918147e-01 5.49684833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.49420609899997 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:40.74, Y:-30.56, Z:54.98 [[ 1.54176862e-01 9.74319756e-01 1.64105178e-01 4.07398909e+01] [-6.56023497e-01 2.25143054e-01 -7.20377524e-01 -3.05572218e+01] [-7.38825194e-01 3.40869340e-03 6.73888503e-01 5.49830680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.52420609899997 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:40.75, Y:-30.58, Z:55.00 [[ 1.48118900e-01 9.75020059e-01 1.65519415e-01 4.07489764e+01] [-6.58218605e-01 2.22103824e-01 -7.19317843e-01 -3.05847723e+01] [-7.38111821e-01 -2.40339065e-03 6.74674117e-01 5.49965890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.55420609899997 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:40.75, Y:-30.61, Z:55.01 [[ 1.50960099e-01 9.74888384e-01 1.63718315e-01 4.07540262e+01] [-6.59241437e-01 2.22693508e-01 -7.18197973e-01 -3.06136376e+01] [-7.36621868e-01 4.89339628e-04 6.76304654e-01 5.50107528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.58420609899997 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:40.76, Y:-30.64, Z:55.02 [[ 1.46474249e-01 9.75507857e-01 1.64102760e-01 4.07627645e+01] [-6.60834387e-01 2.19939272e-01 -7.17582490e-01 -3.06422529e+01] [-7.36099999e-01 -3.33739081e-03 6.76864576e-01 5.50246039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.61420609899997 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:40.78, Y:-30.67, Z:55.04 [[ 1.34269489e-01 9.76957095e-01 1.65911240e-01 4.07751246e+01] [-6.64213055e-01 2.12976931e-01 -7.16562519e-01 -3.06684044e+01] [-7.35386104e-01 -1.39879284e-02 6.77503960e-01 5.50404770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64420609899997 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:40.78, Y:-30.70, Z:55.06 [[ 1.39490159e-01 9.76787251e-01 1.62570482e-01 4.07797114e+01] [-6.62802829e-01 2.14074647e-01 -7.17540560e-01 -3.06973348e+01] [-7.35686690e-01 -7.66232843e-03 6.77278660e-01 5.50555093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.67420609899997 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:40.79, Y:-30.72, Z:55.07 [[ 1.33969347e-01 9.77705469e-01 1.61691775e-01 4.07883276e+01] [-6.64012658e-01 2.09681388e-01 -7.17719239e-01 -3.07248753e+01] [-7.35621781e-01 -1.12130076e-02 6.77299686e-01 5.50741185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70420609899998 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:40.79, Y:-30.76, Z:55.08 [[ 1.57217127e-01 9.74912317e-01 1.57571411e-01 4.07854956e+01] [-6.58315160e-01 2.22393650e-01 -7.19139913e-01 -3.07555655e+01] [-7.36141240e-01 9.32946263e-03 6.76763649e-01 5.50843191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.73420609899998 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:40.80, Y:-30.78, Z:55.10 [[ 1.41957022e-01 9.76887049e-01 1.59812070e-01 4.07983591e+01] [-6.63034118e-01 2.13716521e-01 -7.17433626e-01 -3.07830254e+01] [-7.35006097e-01 -4.11611403e-03 6.78048004e-01 5.50981803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76420609899998 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:40.81, Y:-30.81, Z:55.11 [[ 1.30816931e-01 9.78174833e-01 1.61433971e-01 4.08099979e+01] [-6.64962503e-01 2.07345554e-01 -7.17518426e-01 -3.08098256e+01] [-7.35331082e-01 -1.34839794e-02 6.77573894e-01 5.51142884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79420609899998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:40.81, Y:-30.84, Z:55.13 [[ 1.37342676e-01 9.77716180e-01 1.58770463e-01 4.08144643e+01] [-6.65815293e-01 2.09801603e-01 -7.16012069e-01 -3.08389010e+01] [-7.33366883e-01 -7.37278820e-03 6.79793099e-01 5.51286966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82420609899998 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:40.82, Y:-30.87, Z:55.14 [[ 1.37943967e-01 9.77558621e-01 1.59218732e-01 4.08202715e+01] [-6.66148455e-01 2.10534751e-01 -7.15486796e-01 -3.08671317e+01] [-7.32951361e-01 -7.36622486e-03 6.80241164e-01 5.51421328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85420609899998 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:40.83, Y:-30.89, Z:55.16 [[ 1.32781753e-01 9.78365397e-01 1.58651051e-01 4.08293869e+01] [-6.67674053e-01 2.06593879e-01 -7.15213485e-01 -3.08946975e+01] [-7.32516461e-01 -1.09598902e-02 6.80661087e-01 5.51607901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88420609899998 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:40.82, Y:-30.93, Z:55.17 [[ 1.61225439e-01 9.75216573e-01 1.51522254e-01 4.08230052e+01] [-6.61605031e-01 2.20723386e-01 -7.16630986e-01 -3.09259332e+01] [-7.32314919e-01 1.52912591e-02 6.80794416e-01 5.51709976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91420609899998 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:40.84, Y:-30.95, Z:55.19 [[ 1.41554484e-01 9.77428358e-01 1.56831543e-01 4.08382368e+01] [-6.67132698e-01 2.11238041e-01 -7.14361571e-01 -3.09530704e+01] [-7.31366045e-01 -3.50636700e-03 6.81976109e-01 5.51854944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94420609899998 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:40.85, Y:-30.98, Z:55.20 [[ 1.36189223e-01 9.78263258e-01 1.56376128e-01 4.08470529e+01] [-6.69748926e-01 2.07226844e-01 -7.13087239e-01 -3.09815576e+01] [-7.29992378e-01 -7.61794654e-03 6.83412829e-01 5.51989069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97420609899999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:40.86, Y:-31.01, Z:55.22 [[ 1.23076493e-01 9.79787491e-01 1.57697969e-01 4.08593556e+01] [-6.72287958e-01 1.99205405e-01 -7.12983947e-01 -3.10076118e+01] [-7.29987040e-01 -1.82668818e-02 6.83216834e-01 5.52194946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.004206099 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:40.86, Y:-31.04, Z:55.24 [[ 1.45600887e-01 9.77969988e-01 1.49583033e-01 4.08568561e+01] [-6.68476052e-01 2.08708274e-01 -7.13849161e-01 -3.10380782e+01] [-7.29342272e-01 3.94439582e-03 6.84137626e-01 5.52351730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.034206099 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:40.86, Y:-31.07, Z:55.25 [[ 1.45161440e-01 9.78110589e-01 1.49090015e-01 4.08636576e+01] [-6.68571641e-01 2.08048040e-01 -7.13952361e-01 -3.10669296e+01] [-7.29342250e-01 3.96099664e-03 6.84137554e-01 5.52508484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.064206099 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:40.87, Y:-31.10, Z:55.27 [[ 1.44238270e-01 9.78271694e-01 1.48928892e-01 4.08707927e+01] [-6.67182895e-01 2.07291542e-01 -7.15469916e-01 -3.10955080e+01] [-7.30795666e-01 3.83533383e-03 6.82585514e-01 5.52667376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.094206099 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:40.88, Y:-31.12, Z:55.28 [[ 1.43844618e-01 9.78378487e-01 1.48607745e-01 4.08773497e+01] [-6.67267446e-01 2.06788203e-01 -7.15536718e-01 -3.11244039e+01] [-7.30796060e-01 3.76499516e-03 6.82585485e-01 5.52824089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12420609899996 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:40.89, Y:-31.15, Z:55.30 [[ 1.41920204e-01 9.78741478e-01 1.48066790e-01 4.08850786e+01] [-6.67653134e-01 2.05079914e-01 -7.15668583e-01 -3.11532474e+01] [-7.30820052e-01 2.71057493e-03 6.82564799e-01 5.52974253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15420609899996 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:40.89, Y:-31.18, Z:55.31 [[ 1.43621662e-01 9.78574686e-01 1.47527630e-01 4.08903202e+01] [-6.67451727e-01 2.05846979e-01 -7.15636230e-01 -3.11826813e+01] [-7.30671616e-01 4.31329366e-03 6.82715449e-01 5.53138628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.18420609899997 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:40.90, Y:-31.21, Z:55.33 [[ 1.43820871e-01 9.78625513e-01 1.46995451e-01 4.08965752e+01] [-6.67560925e-01 2.05594634e-01 -7.15606916e-01 -3.12115322e+01] [-7.30532661e-01 4.79079071e-03 6.82860952e-01 5.53294313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.21420609899997 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:40.90, Y:-31.24, Z:55.35 [[ 1.42918291e-01 9.78828293e-01 1.46524862e-01 4.09037506e+01] [-6.67527398e-01 2.04633460e-01 -7.15913626e-01 -3.12401600e+01] [-7.30740402e-01 4.50779229e-03 6.82640568e-01 5.53452251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.24420609899997 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:40.91, Y:-31.27, Z:55.36 [[ 1.45651326e-01 9.78448015e-01 1.46373403e-01 4.09084354e+01] [-6.66925844e-01 2.06385804e-01 -7.15971242e-01 -3.12684652e+01] [-7.30750033e-01 6.66195521e-03 6.82612634e-01 5.53568583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.27420609899997 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:40.92, Y:-31.30, Z:55.37 [[ 1.31619400e-01 9.79943948e-01 1.49620158e-01 4.09212280e+01] [-6.69546001e-01 1.99183119e-01 -7.15565677e-01 -3.12967392e+01] [-7.31016064e-01 -5.99525395e-03 6.82333914e-01 5.53704404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.30420609899997 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:40.93, Y:-31.32, Z:55.39 [[ 1.27528304e-01 9.80442582e-01 1.49896212e-01 4.09301580e+01] [-6.71588828e-01 1.96572723e-01 -7.14372179e-01 -3.13247539e+01] [-7.29866411e-01 -9.56594943e-03 6.83522871e-01 5.53850005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.33420609899997 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:40.94, Y:-31.35, Z:55.40 [[ 1.28590953e-01 9.80310811e-01 1.49850197e-01 4.09365193e+01] [-6.71587607e-01 1.97264474e-01 -7.14182619e-01 -3.13532783e+01] [-7.29681063e-01 -8.80011177e-03 6.83731018e-01 5.53999604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36420609899997 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:40.95, Y:-31.38, Z:55.41 [[ 1.20752338e-01 9.81220254e-01 1.50418369e-01 4.09459289e+01] [-6.74160222e-01 1.92283274e-01 -7.13116496e-01 -3.13806982e+01] [-7.28647286e-01 -1.52955965e-02 6.84718320e-01 5.54141456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.39420609899997 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:40.95, Y:-31.41, Z:55.43 [[ 1.20851569e-01 9.81506969e-01 1.48455272e-01 4.09515551e+01] [-6.74824520e-01 1.90911469e-01 -7.12856703e-01 -3.14094743e+01] [-7.28015636e-01 -1.40314060e-02 6.85416920e-01 5.54300815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42420609899997 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:40.96, Y:-31.44, Z:55.44 [[ 1.27552486e-01 9.81058119e-01 1.45792082e-01 4.09553641e+01] [-6.75178136e-01 1.93562787e-01 -7.11806106e-01 -3.14391316e+01] [-7.26543081e-01 -7.64298757e-03 6.87078407e-01 5.54438453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.45420609899998 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:40.97, Y:-31.47, Z:55.46 [[ 1.11288005e-01 9.82743531e-01 1.47750233e-01 4.09694305e+01] [-6.78947704e-01 1.83753451e-01 -7.10819728e-01 -3.14650999e+01] [-7.25703105e-01 -2.12089723e-02 6.87681019e-01 5.54644615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48420609899998 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:40.96, Y:-31.50, Z:55.47 [[ 1.45094641e-01 9.79604219e-01 1.39007621e-01 4.09614133e+01] [-6.72862815e-01 2.00698712e-01 -7.12022232e-01 -3.14975621e+01] [-7.25398634e-01 9.77755122e-03 6.88259560e-01 5.54748358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51420609899998 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:40.98, Y:-31.53, Z:55.49 [[ 1.24513765e-01 9.81680909e-01 1.44218290e-01 4.09758333e+01] [-6.76690878e-01 1.90318220e-01 -7.11244283e-01 -3.15251325e+01] [-7.25662303e-01 -9.03149777e-03 6.87991755e-01 5.54887216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54420609899998 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:40.99, Y:-31.55, Z:55.51 [[ 1.11779556e-01 9.82930048e-01 1.46129572e-01 4.09885917e+01] [-6.80109651e-01 1.82886277e-01 -7.09932019e-01 -3.15518078e+01] [-7.24538607e-01 -2.00282467e-02 6.88943159e-01 5.55075802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57420609899998 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:40.98, Y:-31.58, Z:55.52 [[ 1.48410274e-01 9.79321133e-01 1.37493669e-01 4.09801094e+01] [-6.70697480e-01 2.01846894e-01 -7.13738553e-01 -3.15848751e+01] [-7.26731919e-01 1.37094770e-02 6.86784368e-01 5.55170796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60420609899998 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:41.00, Y:-31.61, Z:55.54 [[ 1.08531470e-01 9.83520864e-01 1.44594712e-01 4.10021627e+01] [-6.78586611e-01 1.79591748e-01 -7.12226800e-01 -3.16105402e+01] [-7.26457935e-01 -2.08210140e-02 6.86895446e-01 5.55351805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63420609899998 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:40.99, Y:-31.64, Z:55.55 [[ 1.43693717e-01 9.80134154e-01 1.36708288e-01 4.09940321e+01] [-6.72573640e-01 1.98056897e-01 -7.13034476e-01 -3.16420971e+01] [-7.25945462e-01 1.05121834e-02 6.87671928e-01 5.55464215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66420609899998 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:41.01, Y:-31.67, Z:55.56 [[ 1.26837903e-01 9.81936464e-01 1.40402730e-01 4.10072299e+01] [-6.77262341e-01 1.89147324e-01 -7.11012666e-01 -3.16693513e+01] [-7.24726064e-01 -4.90612597e-03 6.89019639e-01 5.55605507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69420609899998 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:41.01, Y:-31.70, Z:55.57 [[ 1.29389522e-01 9.81848738e-01 1.38677346e-01 4.10121897e+01] [-6.79107749e-01 1.89650140e-01 -7.09115991e-01 -3.16989993e+01] [-7.22544820e-01 -2.42468119e-03 6.91319828e-01 5.55731797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72420609899999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:41.02, Y:-31.73, Z:55.59 [[ 1.23298595e-01 9.82316675e-01 1.40895021e-01 4.10196960e+01] [-6.79766748e-01 1.87041373e-01 -7.09177476e-01 -3.17258999e+01] [-7.22990058e-01 -8.33516372e-03 6.90808150e-01 5.55901217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.754206099 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:41.02, Y:-31.76, Z:55.60 [[ 1.33687746e-01 9.81490947e-01 1.37124427e-01 4.10220604e+01] [-6.79848041e-01 1.91503317e-01 -7.07907565e-01 -3.17563610e+01] [-7.21064649e-01 1.41479351e-03 6.92866344e-01 5.56030722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.784206099 meters Centerline goodness : 0.999798 Centerline is valid? [True, True] Translation: X:41.04, Y:-31.78, Z:55.62 [[ 1.09926977e-01 9.83851783e-01 1.41250590e-01 4.10376543e+01] [-6.80692625e-01 1.78074213e-01 -7.10596317e-01 -3.17826559e+01] [-7.24274541e-01 -1.80345300e-02 6.89275812e-01 5.56246681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.814206099 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:41.03, Y:-31.81, Z:55.64 [[ 1.37033617e-01 9.81166095e-01 1.36142874e-01 4.10319484e+01] [-6.77277347e-01 1.93099205e-01 -7.09935274e-01 -3.18096530e+01] [-7.22853501e-01 5.07851374e-03 6.90982652e-01 5.56373318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.844206099 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:41.04, Y:-31.84, Z:55.65 [[ 1.36771738e-01 9.81295827e-01 1.35469525e-01 4.10386508e+01] [-6.79752591e-01 1.92448132e-01 -7.07742984e-01 -3.18393337e+01] [-7.20576093e-01 4.71347699e-03 6.93359847e-01 5.56505585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87420609899996 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:41.06, Y:-31.87, Z:55.67 [[ 1.08396881e-01 9.84279485e-01 1.39441783e-01 4.10587279e+01] [-6.89713325e-01 1.75478890e-01 -7.02497465e-01 -3.18674807e+01] [-7.15922933e-01 -2.00263217e-02 6.97892041e-01 5.56691847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90420609899996 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:41.04, Y:-31.90, Z:55.68 [[ 1.66023676e-01 9.78399611e-01 1.23167935e-01 4.10404758e+01] [-6.79827689e-01 2.04036359e-01 -7.04417119e-01 -3.18990786e+01] [-7.14332172e-01 3.32169466e-02 6.99018013e-01 5.56823433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.93420609899997 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:41.07, Y:-31.92, Z:55.70 [[ 1.00310220e-01 9.84796196e-01 1.41824936e-01 4.10734769e+01] [-6.88826609e-01 1.71596009e-01 -7.04324295e-01 -3.19201773e+01] [-7.17952479e-01 -2.70418653e-02 6.95566658e-01 5.57005479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.96420609899997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:41.06, Y:-31.95, Z:55.71 [[ 1.43333127e-01 9.81043772e-01 1.30417530e-01 4.10596869e+01] [-6.80956007e-01 1.93387098e-01 -7.06328781e-01 -3.19505319e+01] [-7.18160519e-01 1.24317120e-02 6.95766427e-01 5.57149462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.99420609899997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:41.07, Y:-31.98, Z:55.73 [[ 1.22753363e-01 9.83187170e-01 1.35183580e-01 4.10741680e+01] [-6.85844294e-01 1.82494120e-01 -7.04495209e-01 -3.19769510e+01] [-7.17320860e-01 -6.23573111e-03 6.96715078e-01 5.57292836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.02420609899997 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:41.08, Y:-32.01, Z:55.74 [[ 1.15750071e-01 9.83989725e-01 1.35521744e-01 4.10831241e+01] [-6.89425660e-01 1.77810352e-01 -7.02193519e-01 -3.20065093e+01] [-7.15048376e-01 -1.21532184e-02 6.98969326e-01 5.57434215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.05420609899997 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:41.08, Y:-32.03, Z:55.76 [[ 1.33051087e-01 9.82362975e-01 1.31378816e-01 4.10803234e+01] [-6.83734508e-01 1.86940627e-01 -7.05379561e-01 -3.20338176e+01] [-7.17498802e-01 4.02328699e-03 6.96548119e-01 5.57585973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.08420609899997 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:41.09, Y:-32.06, Z:55.77 [[ 1.32047001e-01 9.82625557e-01 1.30424710e-01 4.10873442e+01] [-6.86682452e-01 1.85570580e-01 -7.02873225e-01 -3.20633677e+01] [-7.14864183e-01 3.25194181e-03 6.99255765e-01 5.57725572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.11420609899997 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:41.10, Y:-32.09, Z:55.79 [[ 1.26058741e-01 9.83256138e-01 1.31592406e-01 4.10958766e+01] [-6.86271945e-01 1.82222347e-01 -7.04149014e-01 -3.20907803e+01] [-7.16337917e-01 -1.54403845e-03 6.97751822e-01 5.57889343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14420609899997 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:41.10, Y:-32.12, Z:55.80 [[ 1.21722959e-01 9.83528063e-01 1.33626608e-01 4.11033035e+01] [-6.90995421e-01 1.80614514e-01 -6.99931229e-01 -3.21179430e+01] [-7.12536911e-01 -7.13767369e-03 7.01598321e-01 5.58019800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.17420609899997 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:41.11, Y:-32.15, Z:55.82 [[ 1.22947358e-01 9.83747961e-01 1.30858305e-01 4.11076565e+01] [-6.91592148e-01 1.79498889e-01 -6.99628794e-01 -3.21463430e+01] [-7.11747320e-01 -4.48306466e-03 7.02421280e-01 5.58179282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20420609899998 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:41.11, Y:-32.17, Z:55.83 [[ 1.26409514e-01 9.83584805e-01 1.28769432e-01 4.11113397e+01] [-6.89332021e-01 1.80446464e-01 -7.01612741e-01 -3.21748593e+01] [-7.13331620e-01 -7.43666166e-05 7.00826651e-01 5.58340150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.23420609899998 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:41.12, Y:-32.20, Z:55.85 [[ 1.27503230e-01 9.83531618e-01 1.28095601e-01 4.11163888e+01] [-6.92153437e-01 1.80735637e-01 -6.98754785e-01 -3.22010058e+01] [-7.10398864e-01 4.31682008e-04 7.03799167e-01 5.58474271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26420609899998 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:41.13, Y:-32.23, Z:55.86 [[ 1.17235746e-01 9.84585374e-01 1.29797615e-01 4.11267167e+01] [-6.95366345e-01 1.74696440e-01 -6.97098845e-01 -3.22280537e+01] [-7.09028509e-01 -8.53198973e-03 7.05128201e-01 5.58623296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29420609899998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:41.13, Y:-32.26, Z:55.88 [[ 1.31904796e-01 9.83369694e-01 1.24840576e-01 4.11258044e+01] [-6.92760970e-01 1.81529427e-01 -6.97946492e-01 -3.22577597e+01] [-7.09001667e-01 5.57781089e-03 7.05184745e-01 5.58787970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32420609899998 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:41.14, Y:-32.28, Z:55.89 [[ 1.14938876e-01 9.84978277e-01 1.28867562e-01 4.11382003e+01] [-6.99931466e-01 1.72356677e-01 -6.93101089e-01 -3.22841967e+01] [-7.04900701e-01 -1.05342011e-02 7.09227772e-01 5.58927993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35420609899998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:41.14, Y:-32.31, Z:55.91 [[ 1.23617646e-01 9.84433698e-01 1.24935870e-01 4.11398106e+01] [-6.99974257e-01 1.75746261e-01 -6.92206105e-01 -3.23134121e+01] [-7.03388027e-01 -1.88300347e-03 7.10803585e-01 5.59076498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38420609899998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:41.15, Y:-32.34, Z:55.92 [[ 1.07406633e-01 9.85931461e-01 1.28074077e-01 4.11525778e+01] [-7.05741841e-01 1.66341620e-01 -6.88664591e-01 -3.23401435e+01] [-7.00280136e-01 -1.64200901e-02 7.13679278e-01 5.59242960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41420609899998 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:41.14, Y:-32.37, Z:55.94 [[ 1.55595082e-01 9.81121642e-01 1.14849875e-01 4.11366168e+01] [-6.92916524e-01 1.91267237e-01 -6.95185971e-01 -3.23708092e+01] [-7.04029020e-01 2.85861424e-02 7.09595639e-01 5.59398394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44420609899998 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:41.16, Y:-32.40, Z:55.95 [[ 1.21325387e-01 9.84842955e-01 1.23953635e-01 4.11563443e+01] [-7.01095419e-01 1.73422682e-01 -6.91657275e-01 -3.23954631e+01] [-7.02670167e-01 -2.98773919e-03 7.11509459e-01 5.59544457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47420609899999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:41.16, Y:-32.42, Z:55.97 [[ 1.32981578e-01 9.83650623e-01 1.21438674e-01 4.11568081e+01] [-6.99559505e-01 1.79950893e-01 -6.91544774e-01 -3.24246030e+01] [-7.02091446e-01 7.00913695e-03 7.12052297e-01 5.59699864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.504206099 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:41.17, Y:-32.45, Z:55.99 [[ 1.11038841e-01 9.85819891e-01 1.25815412e-01 4.11716693e+01] [-7.08171543e-01 1.67307668e-01 -6.85930907e-01 -3.24514557e+01] [-6.97254216e-01 -1.29339216e-02 7.16707243e-01 5.59855189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.534206099 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:41.17, Y:-32.48, Z:56.00 [[ 1.36098016e-01 9.83666202e-01 1.17805489e-01 4.11652723e+01] [-7.03474023e-01 1.79683193e-01 -6.87632351e-01 -3.24809071e+01] [-6.97568369e-01 1.07122978e-02 7.16438146e-01 5.60025634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.564206099 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:41.16, Y:-32.51, Z:56.02 [[ 1.45942036e-01 9.82347138e-01 1.17025732e-01 4.11644008e+01] [-6.95019905e-01 1.85992304e-01 -6.94517238e-01 -3.25077647e+01] [-7.04022907e-01 2.00240471e-02 7.09894911e-01 5.60180909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.594206099 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:41.18, Y:-32.54, Z:56.04 [[ 1.19718268e-01 9.85306657e-01 1.21812679e-01 4.11825744e+01] [-7.01941308e-01 1.70772850e-01 -6.91458628e-01 -3.25362483e+01] [-7.02101087e-01 -2.72512211e-03 7.12072073e-01 5.60351164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62420609899996 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:41.18, Y:-32.57, Z:56.05 [[ 1.29054364e-01 9.84641799e-01 1.17581879e-01 4.11843690e+01] [-7.02529581e-01 1.74468113e-01 -6.89937001e-01 -3.25650523e+01] [-6.99855098e-01 6.43463225e-03 7.14255862e-01 5.60497256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65420609899996 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:41.20, Y:-32.59, Z:56.07 [[ 1.08230482e-01 9.86600315e-01 1.22090050e-01 4.11978881e+01] [-7.08792123e-01 1.62695498e-01 -6.86399229e-01 -3.25923099e+01] [-6.97065197e-01 -1.22471465e-02 7.16903145e-01 5.60656164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.68420609899997 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:41.19, Y:-32.62, Z:56.08 [[ 1.29436445e-01 9.84800125e-01 1.15822797e-01 4.11938890e+01] [-7.05512784e-01 1.73541139e-01 -6.87120939e-01 -3.26219583e+01] [-6.96776807e-01 7.22402748e-03 7.17251626e-01 5.60818169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.71420609899997 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:41.20, Y:-32.65, Z:56.10 [[ 1.32590848e-01 9.84426307e-01 1.15431858e-01 4.11981546e+01] [-7.03209686e-01 1.75502761e-01 -6.88981073e-01 -3.26492142e+01] [-6.98509703e-01 1.01797843e-02 7.15528173e-01 5.60998475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.74420609899997 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:41.20, Y:-32.68, Z:56.12 [[ 1.30437094e-01 9.84803542e-01 1.14665371e-01 4.12042353e+01] [-7.04949336e-01 1.73445329e-01 -6.87723165e-01 -3.26780725e+01] [-6.97160382e-01 8.87133355e-03 7.16860308e-01 5.61156068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.77420609899997 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:41.21, Y:-32.71, Z:56.13 [[ 1.30582867e-01 9.84823423e-01 1.14328211e-01 4.12091704e+01] [-7.03572399e-01 1.73296038e-01 -6.89169328e-01 -3.27058133e+01] [-6.98522723e-01 9.55553307e-03 7.15524072e-01 5.61321549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.80420609899997 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:41.21, Y:-32.73, Z:56.15 [[ 1.32998392e-01 9.84555073e-01 1.13854008e-01 4.12129075e+01] [-7.03727237e-01 1.74699143e-01 -6.88656798e-01 -3.27336002e+01] [-6.97910742e-01 1.14680805e-02 7.16092926e-01 5.61490852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.83420609899997 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:41.22, Y:-32.76, Z:56.17 [[ 1.29480972e-01 9.85089172e-01 1.13287251e-01 4.12192769e+01] [-7.03965429e-01 1.71783097e-01 -6.89146750e-01 -3.27623221e+01] [-6.98331836e-01 9.48108238e-03 7.15711364e-01 5.61651964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86420609899997 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:41.21, Y:-32.79, Z:56.18 [[ 1.54562001e-01 9.82069949e-01 1.07931479e-01 4.12135196e+01] [-7.00343952e-01 1.85962529e-01 -6.89156214e-01 -3.27926058e+01] [-6.96870818e-01 3.09282048e-02 7.16529489e-01 5.61770998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.89420609899997 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:41.24, Y:-32.81, Z:56.19 [[ 1.13401137e-01 9.86296676e-01 1.19829251e-01 4.12360090e+01] [-7.04586793e-01 1.64866353e-01 -6.90200360e-01 -3.28142803e+01] [-7.00498132e-01 -6.16060211e-03 7.13627644e-01 5.61940365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92420609899997 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:41.23, Y:-32.84, Z:56.21 [[ 1.28603177e-01 9.85026077e-01 1.14825301e-01 4.12347089e+01] [-7.02716516e-01 1.72215654e-01 -6.90312441e-01 -3.28429879e+01] [-6.99750470e-01 8.08673808e-03 7.14341574e-01 5.62096022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.95420609899998 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:41.25, Y:-32.87, Z:56.23 [[ 1.13747491e-01 9.86747357e-01 1.15720191e-01 4.12472553e+01] [-7.10091222e-01 1.62208863e-01 -6.85170592e-01 -3.28716012e+01] [-6.94861111e-01 -4.23545594e-03 7.19131488e-01 5.62278209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98420609899998 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] Translation: X:41.24, Y:-32.90, Z:56.25 [[ 1.32555893e-01 9.85039691e-01 1.10116951e-01 4.12445617e+01] [-7.05891299e-01 1.71809153e-01 -6.87167439e-01 -3.28997552e+01] [-6.95806302e-01 1.33574959e-02 7.18105262e-01 5.62455043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01420609899998 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:41.24, Y:-32.93, Z:56.26 [[ 1.51634969e-01 9.82708961e-01 1.06254105e-01 4.12399074e+01] [-7.02323025e-01 1.82759451e-01 -6.87998075e-01 -3.29278129e+01] [-6.95520816e-01 2.96998625e-02 7.17891854e-01 5.62566024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04420609899998 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:41.25, Y:-32.96, Z:56.27 [[ 1.30133211e-01 9.85285451e-01 1.10805811e-01 4.12540653e+01] [-7.09044793e-01 1.70595709e-01 -6.84216768e-01 -3.29551766e+01] [-6.93051822e-01 1.04730416e-02 7.20811686e-01 5.62722136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07420609899998 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:41.27, Y:-32.98, Z:56.29 [[ 1.14401154e-01 9.86928367e-01 1.13511121e-01 4.12650893e+01] [-7.12455987e-01 1.61136255e-01 -6.82965280e-01 -3.29807357e+01] [-6.92328566e-01 -2.73966145e-03 7.21577197e-01 5.62882870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10420609899998 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:41.26, Y:-33.01, Z:56.30 [[ 1.30601394e-01 9.85369109e-01 1.09503398e-01 4.12634903e+01] [-7.11123988e-01 1.70063913e-01 -6.82188346e-01 -3.30094003e+01] [-6.90829900e-01 1.12242563e-02 7.22930194e-01 5.63030150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13420609899998 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:41.28, Y:-33.04, Z:56.32 [[ 1.01922107e-01 9.88189285e-01 1.14428234e-01 4.12802768e+01] [-7.18152908e-01 1.52687512e-01 -6.78927776e-01 -3.30368580e+01] [-6.88380916e-01 -1.29792198e-02 7.25233242e-01 5.63231088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16420609899998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:41.27, Y:-33.07, Z:56.34 [[ 1.30575279e-01 9.85686947e-01 1.06636484e-01 4.12731282e+01] [-7.12525803e-01 1.68086462e-01 -6.81215033e-01 -3.30666825e+01] [-6.89388915e-01 1.29685966e-02 7.24275320e-01 5.63400295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19420609899998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:41.27, Y:-33.09, Z:56.36 [[ 1.35771140e-01 9.85083346e-01 1.05721326e-01 4.12746301e+01] [-7.06616495e-01 1.71078745e-01 -6.86604101e-01 -3.30927584e+01] [-6.94448937e-01 1.85165890e-02 7.19303698e-01 5.63577420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22420609899999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:41.29, Y:-33.12, Z:56.37 [[ 1.22398091e-01 9.86433089e-01 1.09400498e-01 4.12856251e+01] [-7.08512741e-01 1.64035148e-01 -6.86368826e-01 -3.31194623e+01] [-6.95002448e-01 6.49858739e-03 7.18978001e-01 5.63742797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.254206099 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:41.28, Y:-33.15, Z:56.39 [[ 1.34372903e-01 9.85323404e-01 1.05269712e-01 4.12849155e+01] [-7.07989580e-01 1.69789854e-01 -6.85508687e-01 -3.31491800e+01] [-6.93321482e-01 1.75839334e-02 7.20413859e-01 5.63874904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.284206099 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:41.30, Y:-33.17, Z:56.41 [[ 1.10835819e-01 9.87628158e-01 1.10932605e-01 4.13003692e+01] [-7.12784868e-01 1.56779250e-01 -6.83635867e-01 -3.31743418e+01] [-6.92569963e-01 -3.29974098e-03 7.21343163e-01 5.64068830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.314206099 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:41.29, Y:-33.20, Z:56.42 [[ 1.42431909e-01 9.84769951e-01 9.97060444e-02 4.12915195e+01] [-7.13638626e-01 1.71972132e-01 -6.79076945e-01 -3.32041889e+01] [-6.85881230e-01 2.55681411e-02 7.27264194e-01 5.64213461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.344206099 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:41.31, Y:-33.23, Z:56.44 [[ 1.06804612e-01 9.88405097e-01 1.07926549e-01 4.13113174e+01] [-7.19806232e-01 1.51746065e-01 -6.77386241e-01 -3.32290197e+01] [-6.85909442e-01 -5.33822795e-03 7.27667328e-01 5.64386934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37420609899996 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:41.31, Y:-33.26, Z:56.45 [[ 1.27991807e-01 9.86653374e-01 1.00663878e-01 4.13066160e+01] [-7.22061588e-01 1.62282979e-01 -6.72526058e-01 -3.32592703e+01] [-6.79886138e-01 1.33923055e-02 7.33195394e-01 5.64533809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40420609899996 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:41.32, Y:-33.28, Z:56.47 [[ 9.63051805e-02 9.89324975e-01 1.09368213e-01 4.13241426e+01] [-7.26320799e-01 1.44979754e-01 -6.71892081e-01 -3.32833914e+01] [-6.80575792e-01 -1.47297195e-02 7.32529608e-01 5.64731401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.43420609899997 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:41.31, Y:-33.32, Z:56.49 [[ 1.43613255e-01 9.85041080e-01 9.52328969e-02 4.13088169e+01] [-7.19820863e-01 1.70012506e-01 -6.73018330e-01 -3.33158974e+01] [-6.79141486e-01 2.81037269e-02 7.33469170e-01 5.64854354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.46420609899997 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:41.33, Y:-33.34, Z:56.51 [[ 9.56085683e-02 9.89493041e-01 1.08455167e-01 4.13344061e+01] [-7.26744975e-01 1.43841338e-01 -6.71678056e-01 -3.33393004e+01] [-6.80221098e-01 -1.46010707e-02 7.32861560e-01 5.65052365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.49420609899997 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:41.32, Y:-33.37, Z:56.52 [[ 1.35903531e-01 9.86041754e-01 9.61867434e-02 4.13217756e+01] [-7.21372463e-01 1.65035467e-01 -6.72595766e-01 -3.33705773e+01] [-6.79081733e-01 2.20216716e-02 7.33732272e-01 5.65184132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.52420609899997 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:41.34, Y:-33.40, Z:56.54 [[ 1.06972192e-01 9.88670078e-01 1.05301605e-01 4.13391563e+01] [-7.25163946e-01 1.50038250e-01 -6.72031082e-01 -3.33955514e+01] [-6.80216291e-01 -4.47228932e-03 7.32997815e-01 5.65373679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.55420609899997 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:41.34, Y:-33.42, Z:56.55 [[ 1.13312476e-01 9.88248768e-01 1.02589743e-01 4.13410856e+01] [-7.24654578e-01 1.52843514e-01 -6.71948363e-01 -3.34235504e+01] [-6.79732319e-01 1.79800531e-03 7.33458071e-01 5.65534278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.58420609899997 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:41.34, Y:-33.45, Z:56.57 [[ 1.27953907e-01 9.86949458e-01 9.77679181e-02 4.13386415e+01] [-7.22535764e-01 1.60291541e-01 -6.72494380e-01 -3.34547993e+01] [-6.79389334e-01 1.54074656e-02 7.33616210e-01 5.65655837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.61420609899997 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:41.35, Y:-33.48, Z:56.58 [[ 1.16315213e-01 9.88120019e-01 1.00446996e-01 4.13482384e+01] [-7.25069298e-01 1.53594319e-01 -6.71329501e-01 -3.34816950e+01] [-6.78782207e-01 5.25480069e-03 7.34320844e-01 5.65812939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64420609899997 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:41.36, Y:-33.51, Z:56.60 [[ 9.76246674e-02 9.89676217e-01 1.04930498e-01 4.13604752e+01] [-7.26710109e-01 1.42924360e-01 -6.71911485e-01 -3.35079394e+01] [-6.79971941e-01 -1.06589185e-02 7.33160655e-01 5.66006053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.67420609899997 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:41.35, Y:-33.54, Z:56.62 [[ 1.22056311e-01 9.87753687e-01 9.71849324e-02 4.13538534e+01] [-7.21984287e-01 1.55549540e-01 -6.74198064e-01 -3.35372913e+01] [-6.81058695e-01 1.21241344e-02 7.32128444e-01 5.66173659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70420609899998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:41.35, Y:-33.57, Z:56.63 [[ 1.47041546e-01 9.85265914e-01 8.73490856e-02 4.13489783e+01] [-7.25336087e-01 1.67446393e-01 -6.67719452e-01 -3.35699856e+01] [-6.72507505e-01 3.48250564e-02 7.39270499e-01 5.66263488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.73420609899998 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:41.37, Y:-33.59, Z:56.64 [[ 1.02807517e-01 9.89626374e-01 1.00350658e-01 4.13718011e+01] [-7.28159012e-01 1.43604494e-01 -6.70195645e-01 -3.35931080e+01] [-6.77654092e-01 -4.17008598e-03 7.35368984e-01 5.66418624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76420609899998 meters Centerline goodness : 0.999862 Centerline is valid? [True, True] Translation: X:41.38, Y:-33.62, Z:56.66 [[ 9.24037104e-02 9.90478371e-01 1.02049742e-01 4.13817072e+01] [-7.33588133e-01 1.37019117e-01 -6.65638200e-01 -3.36216749e+01] [-6.73283006e-01 -1.33550405e-02 7.39264254e-01 5.66599298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79420609899998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:41.38, Y:-33.65, Z:56.68 [[ 1.15632584e-01 9.88777188e-01 9.45979829e-02 4.13757151e+01] [-7.30755338e-01 1.49188722e-01 -6.66137644e-01 -3.36516686e+01] [-6.72774659e-01 7.89923584e-03 7.39805286e-01 5.66761142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82420609899998 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:41.38, Y:-33.68, Z:56.69 [[ 1.13625702e-01 9.89049701e-01 9.41800889e-02 4.13808940e+01] [-7.29606764e-01 1.47408852e-01 -6.67790836e-01 -3.36793098e+01] [-6.74361305e-01 7.16377279e-03 7.38366786e-01 5.66930084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85420609899998 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:41.38, Y:-33.71, Z:56.71 [[ 1.29627712e-01 9.87458579e-01 9.01233114e-02 4.13778845e+01] [-7.24657560e-01 1.56381458e-01 -6.71130583e-01 -3.37066495e+01] [-6.76807267e-01 2.16885830e-02 7.35840695e-01 5.67067212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88420609899998 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:41.39, Y:-33.73, Z:56.72 [[ 1.04987768e-01 9.89813145e-01 9.61639573e-02 4.13927255e+01] [-7.28950091e-01 1.42372391e-01 -6.69598288e-01 -3.37324938e+01] [-6.76468280e-01 2.00903978e-04 7.36471742e-01 5.67235892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91420609899998 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:41.40, Y:-33.76, Z:56.74 [[ 9.25437433e-02 9.90763965e-01 9.91081329e-02 4.14028108e+01] [-7.30364514e-01 1.35196631e-01 -6.69544284e-01 -3.37582774e+01] [-6.76759435e-01 -1.04229290e-02 7.36130444e-01 5.67431965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94420609899998 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:41.39, Y:-33.79, Z:56.76 [[ 1.21074414e-01 9.88465773e-01 9.09747332e-02 4.13947747e+01] [-7.26120026e-01 1.50683279e-01 -6.70853380e-01 -3.37881778e+01] [-6.76823976e-01 1.51646044e-02 7.35988682e-01 5.67574700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97420609899999 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:41.41, Y:-33.82, Z:56.77 [[ 1.02621405e-01 9.90242840e-01 9.42760080e-02 4.14075221e+01] [-7.32120293e-01 1.39351220e-01 -6.66769161e-01 -3.38176160e+01] [-6.73400864e-01 -5.96590667e-04 7.39277296e-01 5.67736640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.004206099 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:41.41, Y:-33.84, Z:56.80 [[ 1.15738786e-01 9.89009731e-01 9.20015546e-02 4.14052268e+01] [-7.23659684e-01 1.47405873e-01 -6.74231540e-01 -3.38436377e+01] [-6.80383124e-01 1.14569237e-02 7.32767046e-01 5.67951214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.034206099 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:41.41, Y:-33.87, Z:56.81 [[ 1.10290616e-01 9.89715312e-01 9.11020425e-02 4.14129075e+01] [-7.28758980e-01 1.42855846e-01 -6.69703334e-01 -3.38734170e+01] [-6.75830103e-01 7.47056166e-03 7.37019581e-01 5.68089267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.064206099 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:41.42, Y:-33.90, Z:56.83 [[ 1.14233393e-01 9.89313261e-01 9.06090716e-02 4.14169864e+01] [-7.27297475e-01 1.45410884e-01 -6.70741423e-01 -3.39010845e+01] [-6.76748930e-01 1.07213196e-02 7.36135816e-01 5.68263550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.094206099 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:41.42, Y:-33.93, Z:56.83 [[ 1.29042143e-01 9.87338835e-01 9.22504758e-02 4.14187397e+01] [-7.09468565e-01 1.56918352e-01 -6.87045112e-01 -3.39344765e+01] [-6.92822113e-01 2.32089609e-02 7.20734947e-01 5.68349563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12420609899996 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:41.42, Y:-33.96, Z:56.85 [[ 1.26154922e-01 9.87765071e-01 9.16793344e-02 4.14242595e+01] [-7.12599810e-01 1.54528535e-01 -6.84340882e-01 -3.39646438e+01] [-6.90135093e-01 2.10022939e-02 7.23375737e-01 5.68475590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15420609899996 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:41.43, Y:-33.99, Z:56.87 [[ 1.22815417e-01 9.88252161e-01 9.09617521e-02 4.14283353e+01] [-7.13454406e-01 1.51631338e-01 -6.84098493e-01 -3.39923121e+01] [-6.89854466e-01 1.91207786e-02 7.23695524e-01 5.68659766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18420609899997 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:41.43, Y:-34.02, Z:56.89 [[ 1.22258614e-01 9.88334191e-01 9.08204712e-02 4.14309966e+01] [-7.10510208e-01 1.51047580e-01 -6.87284419e-01 -3.40183601e+01] [-6.92984902e-01 1.94975685e-02 7.20688400e-01 5.68862249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.21420609899997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:41.44, Y:-34.05, Z:56.90 [[ 1.19118988e-01 9.88807459e-01 8.98358300e-02 4.14366291e+01] [-7.16231978e-01 1.48238308e-01 -6.81936330e-01 -3.40480714e+01] [-6.87620841e-01 1.68882712e-02 7.25873519e-01 5.68999972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.24420609899997 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:41.44, Y:-34.08, Z:56.92 [[ 1.23937155e-01 9.88233578e-01 8.96324586e-02 4.14389398e+01] [-7.14441698e-01 1.51555651e-01 -6.83084142e-01 -3.40754258e+01] [-6.88630991e-01 2.06223395e-02 7.24818652e-01 5.69176120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.27420609899997 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:41.44, Y:-34.10, Z:56.94 [[ 1.25081387e-01 9.88082739e-01 8.97058900e-02 4.14411276e+01] [-7.09024520e-01 1.52267227e-01 -6.88548416e-01 -3.41016754e+01] [-6.94002072e-01 2.25209155e-02 7.19620687e-01 5.69387928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.30420609899997 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:41.45, Y:-34.13, Z:56.96 [[ 1.24500239e-01 9.88200636e-01 8.92143179e-02 4.14457648e+01] [-7.09125049e-01 1.51508018e-01 -6.88612362e-01 -3.41306993e+01] [-6.94003858e-01 2.24682959e-02 7.19620609e-01 5.69565972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.33420609899997 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:41.45, Y:-34.16, Z:56.97 [[ 1.21176427e-01 9.88664628e-01 8.86483296e-02 4.14512348e+01] [-7.11722762e-01 1.48789629e-01 -6.86521927e-01 -3.41596841e+01] [-6.91929898e-01 2.00972404e-02 7.21684916e-01 5.69720073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36420609899997 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:41.45, Y:-34.19, Z:56.99 [[ 1.29057297e-01 9.87677416e-01 8.85298592e-02 4.14523592e+01] [-7.09523289e-01 1.54341704e-01 -6.87572062e-01 -3.41876838e+01] [-6.92763247e-01 2.59221947e-02 7.20699052e-01 5.69905838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.39420609899997 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:41.45, Y:-34.21, Z:57.01 [[ 1.33069617e-01 9.87164586e-01 8.83094414e-02 4.14541695e+01] [-7.05436547e-01 1.56924350e-01 -6.91183062e-01 -3.42139570e+01] [-6.96169343e-01 2.96787576e-02 7.17263840e-01 5.70113668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42420609899997 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:41.46, Y:-34.24, Z:57.03 [[ 1.33657527e-01 9.87115448e-01 8.79702055e-02 4.14576533e+01] [-7.04396929e-01 1.57065571e-01 -6.92210498e-01 -3.42423443e+01] [-6.97108767e-01 3.05532011e-02 7.16314086e-01 5.70302625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.45420609899998 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:41.46, Y:-34.27, Z:57.05 [[ 1.32782537e-01 9.87264243e-01 8.76248396e-02 4.14612754e+01] [-7.03453835e-01 1.56151995e-01 -6.93375264e-01 -3.42712317e+01] [-6.98227399e-01 3.04280970e-02 7.15229076e-01 5.70478898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48420609899998 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:41.46, Y:-34.30, Z:57.06 [[ 1.36645105e-01 9.86778767e-01 8.71537720e-02 4.14645696e+01] [-7.04094815e-01 1.58632827e-01 -6.92160471e-01 -3.42994707e+01] [-6.96834706e-01 3.32158211e-02 7.16462213e-01 5.70644443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.51420609899998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:41.47, Y:-34.33, Z:57.08 [[ 1.31901392e-01 9.87482439e-01 8.64896254e-02 4.14705671e+01] [-7.05242730e-01 1.54798898e-01 -6.91859807e-01 -3.43272602e+01] [-6.96587908e-01 3.02610920e-02 7.16833002e-01 5.70820711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54420609899998 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:41.47, Y:-34.35, Z:57.10 [[ 1.36623313e-01 9.86855622e-01 8.63136866e-02 4.14722426e+01] [-7.01360605e-01 1.57894194e-01 -6.95099075e-01 -3.43539278e+01] [-6.99590860e-01 3.44297188e-02 7.13713684e-01 5.71010996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57420609899998 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:41.48, Y:-34.38, Z:57.12 [[ 1.31273859e-01 9.87622627e-01 8.58412578e-02 4.14789317e+01] [-7.03695330e-01 1.53824569e-01 -6.93650405e-01 -3.43815958e+01] [-6.98269329e-01 3.06520731e-02 7.15178575e-01 5.71183168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60420609899998 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:41.48, Y:-34.41, Z:57.13 [[ 1.28342711e-01 9.88028921e-01 8.55978919e-02 4.14835599e+01] [-7.04128746e-01 1.51564135e-01 -6.93708168e-01 -3.44098923e+01] [-6.98377303e-01 2.87604506e-02 7.15151718e-01 5.71345999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63420609899998 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:41.49, Y:-34.43, Z:57.15 [[ 1.15313799e-01 9.89400338e-01 8.82592681e-02 4.14937596e+01] [-7.05405050e-01 1.44122292e-01 -6.93997465e-01 -3.44343652e+01] [-6.99361454e-01 1.77689508e-02 7.14547284e-01 5.71494107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66420609899998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:41.51, Y:-34.46, Z:57.17 [[ 9.66054269e-02 9.91101758e-01 9.15679911e-02 4.15052890e+01] [-7.07967199e-01 1.33088555e-01 -6.93592014e-01 -3.44601064e+01] [-6.99606916e-01 2.17761849e-03 7.14524612e-01 5.71674586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69420609899998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:41.51, Y:-34.49, Z:57.18 [[ 1.05397002e-01 9.90571743e-01 8.75162507e-02 4.15053710e+01] [-7.09001814e-01 1.36563002e-01 -6.91857626e-01 -3.44880045e+01] [-6.97286096e-01 1.08705392e-02 7.16710493e-01 5.71849971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72420609899999 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:41.50, Y:-34.52, Z:57.20 [[ 1.28575423e-01 9.88423845e-01 8.05398279e-02 4.14994837e+01] [-7.07885808e-01 1.48352591e-01 -6.90571641e-01 -3.45168125e+01] [-6.94525768e-01 3.17775398e-02 7.18765710e-01 5.71953868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.754206099 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:41.52, Y:-34.54, Z:57.21 [[ 8.74033130e-02 9.91981471e-01 9.12875756e-02 4.15199038e+01] [-7.12364619e-01 1.26296299e-01 -6.90352008e-01 -3.45403248e+01] [-6.96345683e-01 -4.69098642e-03 7.17691218e-01 5.72135654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.784206099 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:41.52, Y:-34.57, Z:57.22 [[ 9.30013047e-02 9.92008727e-01 8.52610293e-02 4.15222373e+01] [-7.22881457e-01 1.26159784e-01 -6.79357129e-01 -3.45728127e+01] [-6.84684714e-01 1.54748229e-03 7.28837738e-01 5.72247618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.814206099 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:41.53, Y:-34.60, Z:57.24 [[ 8.61682073e-02 9.92449966e-01 8.72817540e-02 4.15284248e+01] [-7.25193854e-01 1.22551737e-01 -6.77550696e-01 -3.45973764e+01] [-6.83131696e-01 -4.91286269e-03 7.30278679e-01 5.72396485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84420609899996 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:41.53, Y:-34.62, Z:57.26 [[ 8.81507977e-02 9.92427035e-01 8.55454055e-02 4.15315005e+01] [-7.26081496e-01 1.22810657e-01 -6.76552440e-01 -3.46248327e+01] [-6.81934819e-01 -2.47429875e-03 7.31408764e-01 5.72555850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87420609899996 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:41.52, Y:-34.65, Z:57.27 [[ 1.20036796e-01 9.89652837e-01 7.86029949e-02 4.15214330e+01] [-7.15486293e-01 1.41127005e-01 -6.84224038e-01 -3.46518860e+01] [-6.88237265e-01 2.58926957e-02 7.25023472e-01 5.72739746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90420609899996 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:41.55, Y:-34.68, Z:57.29 [[ 5.43190690e-02 9.94050403e-01 9.44099262e-02 4.15534871e+01] [-7.29904295e-01 1.04048595e-01 -6.75583903e-01 -3.46759331e+01] [-6.81387672e-01 -3.22131220e-02 7.31213482e-01 5.72898133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93420609899997 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:41.54, Y:-34.70, Z:57.31 [[ 8.47017463e-02 9.92787543e-01 8.48440307e-02 4.15435212e+01] [-7.26443354e-01 1.19809277e-01 -6.76702143e-01 -3.47034435e+01] [-6.81986559e-01 -4.31652904e-03 7.31351968e-01 5.73076098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.96420609899997 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:41.52, Y:-34.74, Z:57.32 [[ 1.40693826e-01 9.87489067e-01 7.12080821e-02 4.15240858e+01] [-7.18447924e-01 1.51319065e-01 -6.78922029e-01 -3.47352991e+01] [-6.81203221e-01 4.43608388e-02 7.30749128e-01 5.73199618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.99420609899997 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:41.56, Y:-34.76, Z:57.33 [[ 7.08584150e-02 9.93621168e-01 8.77271926e-02 4.15572303e+01] [-7.35670430e-01 1.11450571e-01 -6.68107617e-01 -3.47596869e+01] [-6.73623116e-01 -1.71972547e-02 7.38874923e-01 5.73324536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.02420609899997 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:41.55, Y:-34.79, Z:57.35 [[ 9.08174226e-02 9.92672531e-01 7.97084824e-02 4.15522791e+01] [-7.36000884e-01 1.20821774e-01 -6.66111701e-01 -3.47899547e+01] [-6.70861308e-01 1.82903444e-03 7.41580582e-01 5.73484829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.05420609899997 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:41.56, Y:-34.82, Z:57.36 [[ 7.71186144e-02 9.93587965e-01 8.26781416e-02 4.15609869e+01] [-7.40184861e-01 1.12611973e-01 -6.62906415e-01 -3.48156437e+01] [-6.67966384e-01 -1.00746846e-02 7.44123250e-01 5.73629962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.08420609899997 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:41.56, Y:-34.84, Z:57.38 [[ 9.74091837e-02 9.92311700e-01 7.63475068e-02 4.15566797e+01] [-7.38189084e-01 1.23489086e-01 -6.63194785e-01 -3.48423233e+01] [-6.67524028e-01 8.24236656e-03 7.44542635e-01 5.73800929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.11420609899997 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:41.56, Y:-34.87, Z:57.40 [[ 8.64642046e-02 9.93194957e-01 7.80238320e-02 4.15648620e+01] [-7.41351092e-01 1.16461551e-01 -6.60935145e-01 -3.48689652e+01] [-6.65524229e-01 -6.95821434e-04 7.46375921e-01 5.73956367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14420609899997 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:41.58, Y:-34.89, Z:57.42 [[ 5.77674943e-02 9.94969152e-01 8.18492726e-02 4.15806194e+01] [-7.44461826e-01 9.75578635e-02 -6.60499094e-01 -3.48925762e+01] [-6.65161264e-01 -2.27782813e-02 7.46352225e-01 5.74162173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.17420609899997 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:41.55, Y:-34.93, Z:57.43 [[ 1.34054141e-01 9.89074720e-01 6.13244218e-02 4.15518954e+01] [-7.37519770e-01 1.40909461e-01 -6.60461288e-01 -3.49255894e+01] [-6.61886754e-01 4.33095974e-02 7.48351657e-01 5.74295429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20420609899998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:41.58, Y:-34.95, Z:57.45 [[ 8.24317223e-02 9.93694215e-01 7.60053804e-02 4.15764345e+01] [-7.48193954e-01 1.12084963e-01 -6.53944010e-01 -3.49502925e+01] [-6.58339440e-01 -2.96103517e-03 7.52715361e-01 5.74450685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.23420609899998 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:41.58, Y:-34.97, Z:57.46 [[ 7.01280358e-02 9.94476510e-01 7.80930888e-02 4.15843881e+01] [-7.49964185e-01 1.04181144e-01 -6.53222788e-01 -3.49745231e+01] [-6.57750546e-01 -1.27577886e-02 7.53127784e-01 5.74616497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26420609899998 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:41.58, Y:-35.00, Z:57.48 [[ 9.90314578e-02 9.92754539e-01 6.80528879e-02 4.15756949e+01] [-7.49508903e-01 1.19401845e-01 -6.51137162e-01 -3.50036175e+01] [-6.54545014e-01 1.34768170e-02 7.55902904e-01 5.74764190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29420609899998 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:41.60, Y:-35.03, Z:57.49 [[ 4.70059514e-02 9.95532187e-01 8.18908165e-02 4.15997090e+01] [-7.55037779e-01 8.90856585e-02 -6.49601183e-01 -3.50278786e+01] [-6.53994184e-01 -3.12955387e-02 7.55851968e-01 5.74944089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32420609899998 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:41.60, Y:-35.06, Z:57.51 [[ 5.90757948e-02 9.95479452e-01 7.43687468e-02 4.15987415e+01] [-7.61133477e-01 9.31210083e-02 -6.41875617e-01 -3.50567062e+01] [-6.45899280e-01 -1.86852306e-02 7.63193935e-01 5.75118903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35420609899998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:41.56, Y:-35.09, Z:57.53 [[ 1.48616348e-01 9.87440132e-01 5.36205819e-02 4.15636496e+01] [-7.46512640e-01 1.47586503e-01 -6.48796657e-01 -3.50850729e+01] [-6.48561531e-01 5.63933473e-02 7.59070307e-01 5.75257114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38420609899998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:41.61, Y:-35.11, Z:57.55 [[ 3.86759839e-02 9.96064042e-01 7.97533260e-02 4.16144425e+01] [-7.64214943e-01 8.09067222e-02 -6.39866880e-01 -3.51102112e+01] [-6.43800971e-01 -3.62012023e-02 7.64336172e-01 5.75453808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41420609899998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:41.58, Y:-35.14, Z:57.56 [[ 1.32048279e-01 9.89736633e-01 5.46319493e-02 4.15778767e+01] [-7.52464054e-01 1.35964414e-01 -6.44446681e-01 -3.51387171e+01] [-6.45260489e-01 4.39894970e-02 7.62695106e-01 5.75590174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44420609899998 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:41.61, Y:-35.17, Z:57.58 [[ 6.71243562e-02 9.95320086e-01 6.95143641e-02 4.16087374e+01] [-7.62888467e-01 9.61020011e-02 -6.39347787e-01 -3.51657028e+01] [-6.43036164e-01 -1.01158981e-02 7.65769000e-01 5.75756567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47420609899999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:41.60, Y:-35.19, Z:57.59 [[ 9.93795986e-02 9.93249485e-01 5.98260430e-02 4.15981431e+01] [-7.60408910e-01 1.14586805e-01 -6.39255937e-01 -3.51942136e+01] [-6.41795906e-01 1.80367423e-02 7.66663349e-01 5.75929860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.504206099 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:41.62, Y:-35.22, Z:57.61 [[ 5.63100498e-02 9.95879361e-01 7.10878155e-02 4.16192234e+01] [-7.66220058e-01 8.87532762e-02 -6.36419421e-01 -3.52180309e+01] [-6.40106242e-01 -1.86321009e-02 7.68060443e-01 5.76140100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.534206099 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:41.60, Y:-35.25, Z:57.63 [[ 1.16337237e-01 9.91769699e-01 5.34650484e-02 4.15966794e+01] [-7.59996341e-01 1.23547496e-01 -6.38076467e-01 -3.52469088e+01] [-6.39430379e-01 3.35988118e-02 7.68114516e-01 5.76292555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.564206099 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:41.62, Y:-35.27, Z:57.65 [[ 6.53495835e-02 9.95670517e-01 6.61033519e-02 4.16207653e+01] [-7.67283391e-01 9.24915046e-02 -6.34603434e-01 -3.52716689e+01] [-6.37969928e-01 -9.24893392e-03 7.70005732e-01 5.76499779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59420609899996 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:41.60, Y:-35.30, Z:57.66 [[ 1.12428060e-01 9.92224680e-01 5.33864748e-02 4.16036036e+01] [-7.65510631e-01 1.20743545e-01 -6.31992461e-01 -3.53000179e+01] [-6.33524589e-01 3.01857725e-02 7.73133503e-01 5.76632755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62420609899996 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:41.62, Y:-35.32, Z:57.68 [[ 7.64909101e-02 9.95183125e-01 6.13162971e-02 4.16208544e+01] [-7.66479486e-01 9.80210745e-02 -6.34744883e-01 -3.53248536e+01] [-6.37697686e-01 1.55452997e-03 7.70285171e-01 5.76836430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65420609899996 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:41.63, Y:-35.35, Z:57.70 [[ 6.12451628e-02 9.96032214e-01 6.45667006e-02 4.16300321e+01] [-7.69670036e-01 8.83147734e-02 -6.32304149e-01 -3.53509936e+01] [-6.35497495e-01 -1.09694842e-02 7.72025002e-01 5.77037726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68420609899997 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:41.61, Y:-35.38, Z:57.72 [[ 1.06825127e-01 9.92946148e-01 5.14425848e-02 4.16139039e+01] [-7.63813280e-01 1.15077152e-01 -6.35095679e-01 -3.53791698e+01] [-6.36535674e-01 2.85516474e-02 7.70718586e-01 5.77198083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.71420609899997 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:41.63, Y:-35.40, Z:57.74 [[ 6.34655378e-02 9.96041929e-01 6.22302217e-02 4.16344761e+01] [-7.70963121e-01 8.85283991e-02 -6.30696908e-01 -3.54042961e+01] [-6.33709706e-01 -7.94968744e-03 7.73530097e-01 5.77396864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.74420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.63, Y:-35.43, Z:57.76 [[ 8.67922934e-02 9.94697524e-01 5.51718629e-02 4.16263588e+01] [-7.68280488e-01 1.02086365e-01 -6.31920458e-01 -3.54325733e+01] [-6.34202010e-01 1.24583601e-02 7.73067009e-01 5.77582669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.77420609899997 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:41.62, Y:-35.46, Z:57.77 [[ 1.00108872e-01 9.93650741e-01 5.13460747e-02 4.16238942e+01] [-7.64872801e-01 1.09859714e-01 -6.34744391e-01 -3.54601032e+01] [-6.36355100e-01 2.42703291e-02 7.71014357e-01 5.77742019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.80420609899997 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:41.64, Y:-35.49, Z:57.79 [[ 5.94336438e-02 9.96401091e-01 6.04359812e-02 4.16434410e+01] [-7.71186698e-01 8.42732192e-02 -6.31006419e-01 -3.54863825e+01] [-6.33828619e-01 -9.10441406e-03 7.73419932e-01 5.77932194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.83420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.63, Y:-35.52, Z:57.81 [[ 1.04589824e-01 9.93353646e-01 4.80572882e-02 4.16257682e+01] [-7.65183787e-01 1.11244284e-01 -6.34128127e-01 -3.55152957e+01] [-6.35259585e-01 2.95506912e-02 7.71733125e-01 5.78076323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.64, Y:-35.54, Z:57.83 [[ 6.80172444e-02 9.96043232e-01 5.71973230e-02 4.16436745e+01] [-7.69916489e-01 8.88637485e-02 -6.31927079e-01 -3.55405657e+01] [-6.34509459e-01 -1.05522351e-03 7.72914376e-01 5.78250234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.89420609899997 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:41.65, Y:-35.57, Z:57.84 [[ 6.98786707e-02 9.95954077e-01 5.65017514e-02 4.16465516e+01] [-7.65516053e-01 8.98547156e-02 -6.37111688e-01 -3.55683383e+01] [-6.39610932e-01 1.26752006e-03 7.68697762e-01 5.78449909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92420609899997 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:41.65, Y:-35.60, Z:57.86 [[ 6.64812338e-02 9.96160304e-01 5.69639790e-02 4.16505242e+01] [-7.70374164e-01 8.75274290e-02 -6.31555695e-01 -3.55954614e+01] [-6.34116624e-01 -1.89697589e-03 7.73235093e-01 5.78596971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.95420609899998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:41.65, Y:-35.62, Z:57.88 [[ 6.85580299e-02 9.96111994e-01 5.53235198e-02 4.16524415e+01] [-7.71211244e-01 8.80941855e-02 -6.30454306e-01 -3.56219899e+01] [-6.32876777e-01 5.56584709e-04 7.74252333e-01 5.78773328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98420609899998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:41.65, Y:-35.65, Z:57.89 [[ 7.76112787e-02 9.95559752e-01 5.32660349e-02 4.16518966e+01] [-7.71702214e-01 9.38151089e-02 -6.29026565e-01 -3.56465894e+01] [-6.31230689e-01 7.71403892e-03 7.75556775e-01 5.78943627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01420609899998 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:41.67, Y:-35.67, Z:57.92 [[ 4.52558675e-02 9.97159554e-01 6.02057399e-02 4.16678055e+01] [-7.73101731e-01 7.31278762e-02 -6.30052400e-01 -3.56711646e+01] [-6.32665488e-01 -1.80315938e-02 7.74215243e-01 5.79167658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04420609899998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:41.66, Y:-35.70, Z:57.94 [[ 7.94679723e-02 9.95522781e-01 5.11784428e-02 4.16563483e+01] [-7.68370298e-01 9.38813305e-02 -6.33082445e-01 -3.56974548e+01] [-6.35052696e-01 1.09857828e-02 7.72390695e-01 5.79359877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07420609899998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:41.66, Y:-35.73, Z:57.95 [[ 7.80360944e-02 9.95687058e-01 5.01761885e-02 4.16590109e+01] [-7.70157490e-01 9.21667869e-02 -6.31159824e-01 -3.57253292e+01] [-6.33062247e-01 1.06096803e-02 7.74028182e-01 5.79542756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10420609899998 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:41.66, Y:-35.75, Z:57.97 [[ 7.77419317e-02 9.95698735e-01 5.04005993e-02 4.16611500e+01] [-7.68336762e-01 9.20512478e-02 -6.33391813e-01 -3.57503940e+01] [-6.35306865e-01 1.05164698e-02 7.72188184e-01 5.79738578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13420609899998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:41.66, Y:-35.78, Z:57.99 [[ 7.77229566e-02 9.95746049e-01 4.94868451e-02 4.16632101e+01] [-7.66690312e-01 9.14259650e-02 -6.35474042e-01 -3.57780607e+01] [-6.37295149e-01 1.14498366e-02 7.70534746e-01 5.79910233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16420609899998 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:41.67, Y:-35.81, Z:58.00 [[ 8.19757313e-02 9.95447921e-01 4.86149872e-02 4.16655811e+01] [-7.74255381e-01 9.43230141e-02 -6.25804901e-01 -3.58061532e+01] [-6.27541700e-01 1.36603990e-02 7.78463107e-01 5.80046703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19420609899998 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:41.68, Y:-35.83, Z:58.02 [[ 5.61759543e-02 9.97010284e-01 5.30542805e-02 4.16790553e+01] [-7.72347527e-01 7.70688942e-02 -6.30507480e-01 -3.58298396e+01] [-6.32711276e-01 -5.55698293e-03 7.74367846e-01 5.80247543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22420609899999 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:41.68, Y:-35.86, Z:58.04 [[ 6.96577982e-02 9.96299739e-01 5.03450134e-02 4.16754160e+01] [-7.75158947e-01 8.58248620e-02 -6.25909498e-01 -3.58573621e+01] [-6.27914324e-01 4.57408999e-03 7.78269028e-01 5.80390412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.254206099 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:41.69, Y:-35.88, Z:58.06 [[ 4.30198973e-02 9.97630793e-01 5.36850956e-02 4.16888209e+01] [-7.76303623e-01 6.72037453e-02 -6.26766577e-01 -3.58806780e+01] [-6.28889476e-01 -1.47125005e-02 7.77355497e-01 5.80622291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.284206099 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:41.68, Y:-35.91, Z:58.08 [[ 7.96511249e-02 9.95860247e-01 4.37957290e-02 4.16759077e+01] [-7.73945103e-01 8.94715379e-02 -6.26900169e-01 -3.59085528e+01] [-6.28223429e-01 1.60378137e-02 7.77867670e-01 5.80769834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.314206099 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:41.68, Y:-35.94, Z:58.09 [[ 6.72454583e-02 9.96643955e-01 4.66784247e-02 4.16842872e+01] [-7.78490845e-01 8.16729646e-02 -6.22319476e-01 -3.59357285e+01] [-6.24043310e-01 5.50943211e-03 7.81370331e-01 5.80940276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34420609899996 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:41.69, Y:-35.96, Z:58.11 [[ 5.32830342e-02 9.97359218e-01 4.93508690e-02 4.16919595e+01] [-7.80115318e-01 7.24262552e-02 -6.21429423e-01 -3.59604235e+01] [-6.23362662e-01 -5.38772368e-03 7.81914294e-01 5.81123654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37420609899996 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:41.69, Y:-35.99, Z:58.13 [[ 6.68064441e-02 9.96770000e-01 4.45698007e-02 4.16885130e+01] [-7.76477403e-01 7.99903060e-02 -6.25047513e-01 -3.59871244e+01] [-6.26593762e-01 7.14975869e-03 7.79313248e-01 5.81310325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40420609899996 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:41.70, Y:-36.01, Z:58.15 [[ 3.57214206e-02 9.98045570e-01 5.12739823e-02 4.17029809e+01] [-7.79327844e-01 5.99376399e-02 -6.23743209e-01 -3.60121757e+01] [-6.25597388e-01 -1.76782486e-02 7.79945760e-01 5.81521601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43420609899997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:41.68, Y:-36.04, Z:58.17 [[ 8.98127823e-02 9.95307609e-01 3.60059365e-02 4.16829242e+01] [-7.77752866e-01 9.26719360e-02 -6.21701207e-01 -3.60418243e+01] [-6.22120682e-01 2.78329949e-02 7.82426470e-01 5.81671980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.46420609899997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:41.70, Y:-36.07, Z:58.19 [[ 5.75096476e-02 9.97377474e-01 4.39410423e-02 4.16985310e+01] [-7.80108409e-01 7.23605013e-02 -6.21445756e-01 -3.60677335e+01] [-6.22995594e-01 1.46034985e-03 7.82223981e-01 5.81856129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.49420609899997 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:41.71, Y:-36.09, Z:58.21 [[ 2.79169677e-02 9.98330389e-01 5.05675471e-02 4.17131788e+01] [-7.80242467e-01 5.33845684e-02 -6.23194817e-01 -3.60917005e+01] [-6.24853851e-01 -2.20572381e-02 7.80430101e-01 5.82080461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.52420609899997 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:41.69, Y:-36.12, Z:58.22 [[ 9.07528425e-02 9.95306498e-01 3.35990544e-02 4.16895910e+01] [-7.78479978e-01 9.19424206e-02 -6.20898957e-01 -3.61211972e+01] [-6.21073945e-01 3.01921541e-02 7.83170217e-01 5.82222983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.55420609899997 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:41.72, Y:-36.14, Z:58.25 [[ 2.79409800e-02 9.98392106e-01 4.93204163e-02 4.17171016e+01] [-7.81735151e-01 5.25742163e-02 -6.21390462e-01 -3.61437933e+01] [-6.22984314e-01 -2.11932446e-02 7.81947179e-01 5.82463798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.58420609899997 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:41.70, Y:-36.17, Z:58.27 [[ 6.68323941e-02 9.97007888e-01 3.88420176e-02 4.17031639e+01] [-7.81210548e-01 7.65041222e-02 -6.19562103e-01 -3.61691617e+01] [-6.20679878e-01 1.10630247e-02 7.83986032e-01 5.82684612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.61420609899997 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:41.70, Y:-36.19, Z:58.29 [[ 7.24878177e-02 9.96772482e-01 3.44983279e-02 4.17001105e+01] [-7.85418584e-01 7.83676281e-02 -6.13983846e-01 -3.61949071e+01] [-6.14705754e-01 1.74107213e-02 7.88564330e-01 5.82871188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64420609899997 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:41.72, Y:-36.22, Z:58.31 [[ 4.19706677e-02 9.98243381e-01 4.18164466e-02 4.17150789e+01] [-7.88492197e-01 5.87980198e-02 -6.12227775e-01 -3.62202785e+01] [-6.13611048e-01 -7.27633332e-03 7.89574909e-01 5.83052531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.67420609899997 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:41.72, Y:-36.25, Z:58.33 [[ 4.35240379e-02 9.98163162e-01 4.21421525e-02 4.17180366e+01] [-7.87132870e-01 6.02381700e-02 -6.13834838e-01 -3.62453966e+01] [-6.15245889e-01 -6.45490267e-03 7.88308842e-01 5.83257358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70420609899998 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:41.73, Y:-36.27, Z:58.35 [[ 2.28028111e-02 9.98738934e-01 4.47277606e-02 4.17286126e+01] [-7.89858189e-01 4.54239927e-02 -6.11605022e-01 -3.62710813e+01] [-6.12865461e-01 -2.13822742e-02 7.89897920e-01 5.83473361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.73420609899998 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:41.72, Y:-36.30, Z:58.37 [[ 5.36991240e-02 9.97910216e-01 3.59388929e-02 4.17173473e+01] [-7.88192931e-01 6.44561370e-02 -6.12043552e-01 -3.62983635e+01] [-6.13080996e-01 4.53942128e-03 7.90007016e-01 5.83677578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76420609899998 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:41.72, Y:-36.32, Z:58.38 [[ 5.41490803e-02 9.97953865e-01 3.39994098e-02 4.17191607e+01] [-7.91346914e-01 6.36541094e-02 -6.08044584e-01 -3.63247251e+01] [-6.08964645e-01 6.01972698e-03 7.93174523e-01 5.83825365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79420609899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:41.73, Y:-36.35, Z:58.40 [[ 3.06438238e-02 9.98737724e-01 3.97984275e-02 4.17309138e+01] [-7.88827124e-01 4.86181153e-02 -6.12689193e-01 -3.63472099e+01] [-6.13850734e-01 -1.26189394e-02 7.89321252e-01 5.84036115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82420609899998 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:41.73, Y:-36.37, Z:58.42 [[ 2.98363097e-02 9.98860524e-01 3.72484567e-02 4.17336081e+01] [-7.90305491e-01 4.63897662e-02 -6.10954352e-01 -3.63735820e+01] [-6.11986131e-01 -1.12090366e-02 7.90789057e-01 5.84209906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85420609899998 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:41.73, Y:-36.40, Z:58.44 [[ 3.74907911e-02 9.98648450e-01 3.59960287e-02 4.17320901e+01] [-7.90475284e-01 5.16741295e-02 -6.10310257e-01 -3.64002185e+01] [-6.11345456e-01 -5.57295667e-03 7.91344221e-01 5.84390953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88420609899998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:41.74, Y:-36.43, Z:58.46 [[ 2.31673569e-02 9.98987578e-01 3.85628483e-02 4.17394532e+01] [-7.90023967e-01 4.19318120e-02 -6.11640299e-01 -3.64251453e+01] [-6.12638071e-01 -1.62954853e-02 7.90195578e-01 5.84598772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91420609899998 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:41.74, Y:-36.45, Z:58.48 [[ 2.60973859e-02 9.98933398e-01 3.80919085e-02 4.17393414e+01] [-7.89878901e-01 4.39609192e-02 -6.11685180e-01 -3.64500146e+01] [-6.12707311e-01 -1.41246106e-02 7.90183679e-01 5.84787270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94420609899998 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:41.74, Y:-36.48, Z:58.50 [[ 2.78900573e-02 9.98930420e-01 3.68803502e-02 4.17403404e+01] [-7.90481869e-01 4.46229607e-02 -6.10857763e-01 -3.64766520e+01] [-6.11850112e-01 -1.21163902e-02 7.90880922e-01 5.84982931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97420609899999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:41.74, Y:-36.50, Z:58.51 [[ 3.93293918e-02 9.98709671e-01 3.21277300e-02 4.17374354e+01] [-7.96415260e-01 5.07487279e-02 -6.02617042e-01 -3.65038875e+01] [-6.03469910e-01 -1.88645269e-03 7.97383540e-01 5.85131778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.004206099 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:41.75, Y:-36.53, Z:58.53 [[ 1.78642213e-02 9.99129467e-01 3.76985081e-02 4.17487318e+01] [-7.97541690e-01 3.69790325e-02 -6.02129391e-01 -3.65282642e+01] [-6.02999272e-01 -1.93095592e-02 7.97508006e-01 5.85329394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.034206099 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:41.74, Y:-36.55, Z:58.55 [[ 3.46140777e-02 9.98883816e-01 3.21401278e-02 4.17448751e+01] [-7.99855566e-01 4.69697939e-02 -5.98351829e-01 -3.65540566e+01] [-5.99193574e-01 -4.99606340e-03 8.00588596e-01 5.85490496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.064206099 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:41.75, Y:-36.58, Z:58.57 [[ 3.33688752e-02 9.98915581e-01 3.24681376e-02 4.17465763e+01] [-8.01390778e-01 4.61541861e-02 -5.96357788e-01 -3.65820787e+01] [-5.97209627e-01 -6.11987743e-03 8.02061848e-01 5.85672912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09420609899996 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:41.75, Y:-36.61, Z:58.58 [[ 2.42307293e-02 9.99156899e-01 3.31415653e-02 4.17519136e+01] [-8.04494811e-01 3.91684243e-02 -5.92666799e-01 -3.66064030e+01] [-5.93465223e-01 -1.23014685e-02 8.04765620e-01 5.85848411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12420609899996 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:41.75, Y:-36.63, Z:58.60 [[ 2.64992831e-02 9.99156842e-01 3.13591109e-02 4.17531386e+01] [-8.05147416e-01 3.99255983e-02 -5.91729318e-01 -3.66309387e+01] [-5.92482427e-01 -9.56830442e-03 8.05526549e-01 5.86032244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15420609899996 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:41.76, Y:-36.66, Z:58.62 [[ 2.53805815e-02 9.99158938e-01 3.22062422e-02 4.17557802e+01] [-8.08859474e-01 3.94571598e-02 -5.86676643e-01 -3.66577929e+01] [-5.87453979e-01 -1.11601297e-02 8.09180619e-01 5.86215283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18420609899997 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:41.75, Y:-36.68, Z:58.64 [[ 3.30532262e-02 9.99066956e-01 2.77975239e-02 4.17535491e+01] [-8.09005114e-01 4.30759161e-02 -5.86221111e-01 -3.66826250e+01] [-5.86871545e-01 -3.11184003e-03 8.09674074e-01 5.86398622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.21420609899997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:41.75, Y:-36.71, Z:58.66 [[ 3.57630843e-02 9.99022397e-01 2.59856272e-02 4.17549292e+01] [-8.08840260e-01 4.42068854e-02 -5.86364379e-01 -3.67087217e+01] [-5.86939891e-01 -4.80227171e-05 8.09630509e-01 5.86609485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.24420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.76, Y:-36.73, Z:58.68 [[ 2.24110580e-02 9.99309811e-01 2.96251039e-02 4.17608703e+01] [-8.13361739e-01 3.54553799e-02 -5.80676845e-01 -3.67347481e+01] [-5.81326437e-01 -1.10823436e-02 8.13594958e-01 5.86769333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.27420609899997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:41.76, Y:-36.76, Z:58.70 [[ 2.53362220e-02 9.99266038e-01 2.87308340e-02 4.17612530e+01] [-8.14010532e-01 3.73051862e-02 -5.79650910e-01 -3.67593701e+01] [-5.80297278e-01 -8.70103730e-03 8.14358251e-01 5.86951546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.30420609899997 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:41.76, Y:-36.78, Z:58.71 [[ 2.16503588e-02 9.99320646e-01 2.98246395e-02 4.17649962e+01] [-8.15891363e-01 3.49013691e-02 -5.77150915e-01 -3.67843071e+01] [-5.77799745e-01 -1.18381414e-02 8.16092711e-01 5.87137704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.33420609899997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:41.76, Y:-36.81, Z:58.73 [[ 2.75882835e-02 9.99260352e-01 2.67887170e-02 4.17641945e+01] [-8.15815982e-01 3.79938199e-02 -5.77062175e-01 -3.68104398e+01] [-5.77653158e-01 -5.93450862e-03 8.16260749e-01 5.87341446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36420609899997 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:41.76, Y:-36.84, Z:58.75 [[ 3.60418477e-02 9.99071462e-01 2.36050654e-02 4.17623847e+01] [-8.18269400e-01 4.30628142e-02 -5.73219664e-01 -3.68362749e+01] [-5.73703909e-01 1.34459312e-03 8.19061669e-01 5.87505624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.39420609899997 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:41.77, Y:-36.86, Z:58.77 [[ 3.01660467e-02 9.99261879e-01 2.37846122e-02 4.17662341e+01] [-8.18665010e-01 3.83525230e-02 -5.72989255e-01 -3.68600224e+01] [-5.73478519e-01 -2.18680918e-03 8.19217679e-01 5.87697253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42420609899997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:41.77, Y:-36.89, Z:58.79 [[ 2.89871949e-02 9.99253981e-01 2.55190716e-02 4.17673251e+01] [-8.20802274e-01 3.83652715e-02 -5.69922568e-01 -3.68850245e+01] [-5.70476442e-01 -4.42565542e-03 8.21302041e-01 5.87878162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.45420609899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:41.76, Y:-36.91, Z:58.81 [[ 4.18419084e-02 9.98908074e-01 2.07825666e-02 4.17636615e+01] [-8.21422698e-01 4.62340768e-02 -5.68442751e-01 -3.69102688e+01] [-5.68782916e-01 6.71345758e-03 8.22460287e-01 5.88068445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48420609899998 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:41.77, Y:-36.94, Z:58.83 [[ 3.45773612e-02 9.99171532e-01 2.14628972e-02 4.17677984e+01] [-8.24073552e-01 4.06549811e-02 -5.65022082e-01 -3.69366070e+01] [-5.65426553e-01 1.84996670e-03 8.24796576e-01 5.88270593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51420609899998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:41.78, Y:-36.96, Z:58.85 [[ 1.33153401e-02 9.99534065e-01 2.74654990e-02 4.17783027e+01] [-8.24758179e-01 2.65085562e-02 -5.64863916e-01 -3.69605349e+01] [-5.65328797e-01 -1.51310398e-02 8.24726866e-01 5.88472011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54420609899998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:41.77, Y:-36.99, Z:58.87 [[ 2.55453759e-02 9.99361452e-01 2.49824299e-02 4.17743408e+01] [-8.27493362e-01 3.51605726e-02 -5.60373510e-01 -3.69867420e+01] [-5.60894081e-01 -6.35784297e-03 8.27863158e-01 5.88677410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57420609899998 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:41.76, Y:-37.01, Z:58.89 [[ 6.87275291e-02 9.97576605e-01 1.08371403e-02 4.17574934e+01] [-8.24619907e-01 6.29189594e-02 -5.62177209e-01 -3.70127723e+01] [-5.61496693e-01 2.97005289e-02 8.26945792e-01 5.88875633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60420609899998 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:41.77, Y:-37.04, Z:58.91 [[ 3.97286356e-02 9.99039685e-01 1.84755015e-02 4.17705946e+01] [-8.25621728e-01 4.32360160e-02 -5.62565027e-01 -3.70370168e+01] [-5.62823595e-01 7.09616555e-03 8.26546578e-01 5.89084792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.78, Y:-37.06, Z:58.93 [[ 1.93469219e-02 9.99505786e-01 2.47766224e-02 4.17802155e+01] [-8.28455972e-01 2.98993125e-02 -5.59255518e-01 -3.70607024e+01] [-5.59719930e-01 -9.70646794e-03 8.28624996e-01 5.89303114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66420609899998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:41.77, Y:-37.09, Z:58.95 [[ 4.74125712e-02 9.98729639e-01 1.70632804e-02 4.17697249e+01] [-8.27239294e-01 4.88342976e-02 -5.59723470e-01 -3.70874167e+01] [-5.59845692e-01 1.24225129e-02 8.28503761e-01 5.89508571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69420609899998 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:41.77, Y:-37.11, Z:58.97 [[ 5.00106131e-02 9.98604132e-01 1.69919582e-02 4.17703784e+01] [-8.24252367e-01 5.08746971e-02 -5.63932444e-01 -3.71111665e+01] [-5.64009729e-01 1.41969455e-02 8.25646094e-01 5.89722226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72420609899999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:41.77, Y:-37.14, Z:58.99 [[ 6.21336353e-02 9.98001986e-01 1.14650085e-02 4.17660785e+01] [-8.25775599e-01 5.78561761e-02 -5.61023460e-01 -3.71369559e+01] [-5.60565850e-01 2.53909028e-02 8.27720503e-01 5.89913150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.754206099 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:41.78, Y:-37.16, Z:59.01 [[ 2.56214722e-02 9.99418942e-01 2.24792723e-02 4.17814887e+01] [-8.28002608e-01 3.38160252e-02 -5.59703634e-01 -3.71617768e+01] [-5.60138574e-01 -4.27246498e-03 8.28387907e-01 5.90118294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.784206099 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:41.77, Y:-37.19, Z:59.03 [[ 4.94757956e-02 9.98653810e-01 1.55792701e-02 4.17723465e+01] [-8.27225112e-01 4.97137481e-02 -5.59667006e-01 -3.71866734e+01] [-5.59688092e-01 1.48024070e-02 8.28571136e-01 5.90337234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.814206099 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:41.77, Y:-37.21, Z:59.06 [[ 5.22876887e-02 9.98518368e-01 1.50687239e-02 4.17737144e+01] [-8.26513908e-01 5.17396850e-02 -5.60533465e-01 -3.72117419e+01] [-5.60482611e-01 1.68544894e-02 8.27994667e-01 5.90550724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84420609899996 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:41.77, Y:-37.24, Z:59.08 [[ 5.97352115e-02 9.98149726e-01 1.13502457e-02 4.17717329e+01] [-8.24084360e-01 5.57283175e-02 -5.63719187e-01 -3.72360970e+01] [-5.63308683e-01 2.43203249e-02 8.25888522e-01 5.90753223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87420609899996 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:41.79, Y:-37.26, Z:59.10 [[ 2.73684731e-02 9.99435530e-01 1.94830066e-02 4.17854216e+01] [-8.27103380e-01 3.35863666e-02 -5.61045413e-01 -3.72613813e+01] [-5.61383083e-01 -7.59504282e-04 8.27555713e-01 5.90960984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90420609899996 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:41.78, Y:-37.28, Z:59.12 [[ 3.67682625e-02 9.99204496e-01 1.54424636e-02 4.17823740e+01] [-8.23786656e-01 3.90538051e-02 -5.65553132e-01 -3.72844563e+01] [-5.65706320e-01 8.07311060e-03 8.24567271e-01 5.91186149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93420609899997 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:41.78, Y:-37.31, Z:59.13 [[ 5.59052902e-02 9.98387380e-01 9.86092932e-03 4.17755208e+01] [-8.29344942e-01 5.19343331e-02 -5.56318067e-01 -3.73119978e+01] [-5.55933058e-01 2.29230111e-02 8.30910928e-01 5.91332518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.96420609899997 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:41.78, Y:-37.34, Z:59.15 [[ 3.86003468e-02 9.99141674e-01 1.50309041e-02 4.17833902e+01] [-8.30250704e-01 4.04386743e-02 -5.55921291e-01 -3.73368397e+01] [-5.56051959e-01 8.97933589e-03 8.31099026e-01 5.91536557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.99420609899997 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:41.80, Y:-37.36, Z:59.18 [[ 1.19295766e-02 9.99711328e-01 2.08553664e-02 4.17954351e+01] [-8.27811896e-01 2.15729999e-02 -5.60590823e-01 -3.73589593e+01] [-5.60878909e-01 -1.05767092e-02 8.27830286e-01 5.91782510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.02420609899997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:41.78, Y:-37.38, Z:59.20 [[ 5.78169788e-02 9.98295620e-01 7.94054462e-03 4.17760537e+01] [-8.24969803e-01 5.22549125e-02 -5.62755941e-01 -3.73844284e+01] [-5.62211723e-01 2.59861387e-02 8.26584962e-01 5.91965724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.05420609899997 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:41.79, Y:-37.41, Z:59.22 [[ 1.94506830e-02 9.99638448e-01 1.85645736e-02 4.17937935e+01] [-8.27231966e-01 2.65188915e-02 -5.61234375e-01 -3.74084350e+01] [-5.61523772e-01 -4.44081678e-03 8.27448689e-01 5.92198460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.08420609899997 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:41.78, Y:-37.43, Z:59.25 [[ 4.47576700e-02 9.98931151e-01 1.15458230e-02 4.17836457e+01] [-8.21659226e-01 4.33837097e-02 -5.68325584e-01 -3.74306265e+01] [-5.68219031e-01 1.59501970e-02 8.22722750e-01 5.92455210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.11420609899997 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:41.79, Y:-37.46, Z:59.26 [[ 4.21199804e-02 9.99052918e-01 1.09166739e-02 4.17863293e+01] [-8.23392834e-01 4.08988189e-02 -5.65996049e-01 -3.74572277e+01] [-5.65906483e-01 1.48510314e-02 8.24335671e-01 5.92627231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14420609899997 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:41.79, Y:-37.48, Z:59.28 [[ 3.36711860e-02 9.99342525e-01 1.34450636e-02 4.17909380e+01] [-8.26235630e-01 3.54025742e-02 -5.62211119e-01 -3.74839434e+01] [-5.62317468e-01 7.82152455e-03 8.26884447e-01 5.92828884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.17420609899997 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:41.79, Y:-37.51, Z:59.30 [[ 4.37697557e-02 9.98990861e-01 1.00731528e-02 4.17878175e+01] [-8.26266358e-01 4.18660327e-02 -5.61721587e-01 -3.75091482e+01] [-5.61576454e-01 1.62633093e-02 8.27265006e-01 5.93035754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20420609899998 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:41.79, Y:-37.53, Z:59.33 [[ 3.59350417e-02 9.99287758e-01 1.15173906e-02 4.17919048e+01] [-8.24958712e-01 3.61668927e-02 -5.64034644e-01 -3.75326786e+01] [-5.64049463e-01 1.07672367e-02 8.25670800e-01 5.93255936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.23420609899998 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:41.79, Y:-37.56, Z:59.35 [[ 4.08567640e-02 9.99113408e-01 1.01549507e-02 4.17894869e+01] [-8.22036146e-01 3.93893956e-02 -5.68071343e-01 -3.75560013e+01] [-5.67967693e-01 1.48618203e-02 8.22916658e-01 5.93499585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26420609899998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:41.79, Y:-37.58, Z:59.37 [[ 3.68953460e-02 9.99278790e-01 8.97957649e-03 4.17921464e+01] [-8.27386552e-01 3.55854698e-02 -5.60504387e-01 -3.75844660e+01] [-5.60419688e-01 1.32504225e-02 8.28102771e-01 5.93676262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29420609899998 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:41.79, Y:-37.61, Z:59.39 [[ 3.59164528e-02 9.99319486e-01 8.40076516e-03 4.17945753e+01] [-8.28277012e-01 3.44704209e-02 -5.59257527e-01 -3.76100324e+01] [-5.59166523e-01 1.31283859e-02 8.28951413e-01 5.93887218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32420609899998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:41.80, Y:-37.63, Z:59.41 [[ 2.81638382e-02 9.99571684e-01 7.95273705e-03 4.17977485e+01] [-8.25396087e-01 2.77425303e-02 -5.63872017e-01 -3.76312804e+01] [-5.63851131e-01 9.31664220e-03 8.25823893e-01 5.94143415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35420609899998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:41.79, Y:-37.66, Z:59.43 [[ 5.01913940e-02 9.98736298e-01 2.57493684e-03 4.17892237e+01] [-8.28008697e-01 4.30528608e-02 -5.59059969e-01 -3.76599100e+01] [-5.58464343e-01 2.59279291e-02 8.29123224e-01 5.94288010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38420609899998 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:41.81, Y:-37.68, Z:59.46 [[-2.22118688e-05 9.99890436e-01 1.48025753e-02 4.18108243e+01] [-8.25654892e-01 8.33291302e-03 -5.64113962e-01 -3.76801580e+01] [-5.64175503e-01 -1.22343487e-02 8.25564245e-01 5.94558145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41420609899998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:41.80, Y:-37.71, Z:59.47 [[ 2.31767656e-02 9.99708220e-01 6.80527765e-03 4.18017967e+01] [-8.29177735e-01 2.30251962e-02 -5.58510630e-01 -3.77091577e+01] [-5.58504361e-01 7.30168523e-03 8.29469447e-01 5.94734734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44420609899998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:41.80, Y:-37.73, Z:59.50 [[ 2.26093723e-02 9.99723794e-01 6.41493639e-03 4.18026547e+01] [-8.29193393e-01 2.23365520e-02 -5.58515350e-01 -3.77347609e+01] [-5.58504372e-01 7.30845858e-03 8.29469380e-01 5.94950853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47420609899999 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:41.79, Y:-37.76, Z:59.51 [[ 4.32984280e-02 9.99062102e-01 4.02143112e-04 4.17945548e+01] [-8.28981448e-01 3.61519390e-02 -5.58106438e-01 -3.77608327e+01] [-5.57597530e-01 2.38317623e-02 8.29769270e-01 5.95120790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.504206099 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:41.81, Y:-37.78, Z:59.54 [[-3.89922901e-03 9.99904602e-01 1.32507408e-02 4.18149477e+01] [-8.25347826e-01 4.26366776e-03 -5.64608525e-01 -3.77817773e+01] [-5.64611160e-01 -1.31380080e-02 8.25252465e-01 5.95379925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.534206099 meters Centerline goodness : 0.999966 Centerline is valid? [True, True] Translation: X:41.81, Y:-37.81, Z:59.56 [[ 1.61383058e-02 9.99858239e-01 4.80184714e-03 4.18067334e+01] [-8.29664539e-01 1.60712373e-02 -5.58030885e-01 -3.78102562e+01] [-5.58028949e-01 5.02175078e-03 8.29806287e-01 5.95554362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.564206099 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:41.80, Y:-37.83, Z:59.57 [[ 3.98855689e-02 9.99204253e-01 -4.56225950e-05 4.17968005e+01] [-8.30763795e-01 3.31365052e-02 -5.55637912e-01 -3.78343825e+01] [-5.55194253e-01 2.21998359e-02 8.31424385e-01 5.95691560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59420609899996 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:41.82, Y:-37.86, Z:59.60 [[-5.87638641e-03 9.99912850e-01 1.18220560e-02 4.18172650e+01] [-8.30641973e-01 1.70154662e-03 -5.56804291e-01 -3.78564371e+01] [-5.56775881e-01 -1.30918931e-02 8.30559583e-01 5.95956717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62420609899996 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:41.80, Y:-37.88, Z:59.62 [[ 2.69298302e-02 9.99633602e-01 2.72863374e-03 4.18045704e+01] [-8.30289606e-01 2.38876684e-02 -5.56820033e-01 -3.78814555e+01] [-5.56681196e-01 1.27295127e-02 8.30628681e-01 5.96176270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65420609899996 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:41.81, Y:-37.91, Z:59.64 [[ 2.63208185e-02 9.99650766e-01 2.35790028e-03 4.18054167e+01] [-8.30308596e-01 2.31754258e-02 -5.56821817e-01 -3.79067734e+01] [-5.56682001e-01 1.26982211e-02 8.30628620e-01 5.96395837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68420609899997 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:41.81, Y:-37.93, Z:59.66 [[ 2.61238816e-02 9.99657644e-01 1.46216104e-03 4.18067497e+01] [-8.30173612e-01 2.25095608e-02 -5.57050351e-01 -3.79332494e+01] [-5.56892554e-01 1.33384699e-02 8.30477434e-01 5.96579316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.71420609899997 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:41.81, Y:-37.96, Z:59.68 [[ 6.13407768e-03 9.99966645e-01 5.39279314e-03 4.18145244e+01] [-8.30749615e-01 8.09771334e-03 -5.56587374e-01 -3.79567970e+01] [-5.56612478e-01 -1.06591064e-03 8.30771577e-01 5.96810181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.74420609899997 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:41.81, Y:-37.99, Z:59.70 [[ 9.16514475e-03 9.99956932e-01 1.46112516e-03 4.18135951e+01] [-8.36501677e-01 8.46757256e-03 -5.47898937e-01 -3.79854982e+01] [-5.47887712e-01 3.79933942e-03 8.36543257e-01 5.96985622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.77420609899997 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:41.81, Y:-38.01, Z:59.72 [[ 1.49400488e-02 9.99888027e-01 8.53894087e-04 4.18119736e+01] [-8.30986736e-01 1.28913130e-02 -5.56142840e-01 -3.80068395e+01] [-5.56091575e-01 7.59922654e-03 8.31086284e-01 5.97248790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.80420609899997 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:41.80, Y:-38.03, Z:59.74 [[ 3.22700665e-02 9.99473166e-01 -3.46894611e-03 4.18047173e+01] [-8.31033338e-01 2.49030494e-02 -5.55664854e-01 -3.80347144e+01] [-5.55285723e-01 2.08141517e-02 8.31399144e-01 5.97411743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.83420609899997 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:41.81, Y:-38.06, Z:59.76 [[ 8.67292706e-03 9.99958058e-01 2.94327647e-03 4.18147335e+01] [-8.31546652e-01 8.84696452e-03 -5.55384459e-01 -3.80598226e+01] [-5.55387204e-01 2.36933721e-03 8.31588504e-01 5.97628056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86420609899997 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:41.82, Y:-38.08, Z:59.78 [[-7.64319013e-03 9.99952444e-01 6.05738525e-03 4.18213584e+01] [-8.32224658e-01 -3.00259537e-03 -5.54430431e-01 -3.80835464e+01] [-5.54385877e-01 -9.27872257e-03 8.32208030e-01 5.97836463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.89420609899997 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:41.82, Y:-38.09, Z:59.78 [[ 6.79806926e-03 9.99930571e-01 9.62497601e-03 4.18157486e+01] [-8.35982099e-01 1.09645412e-02 -5.48647162e-01 -3.80855283e+01] [-5.48714603e-01 -4.31656625e-03 8.35998595e-01 5.97805106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92420609899997 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:41.82, Y:-38.11, Z:59.80 [[ 6.79863247e-03 9.99936032e-01 9.03941594e-03 4.18167226e+01] [-8.37123891e-01 1.06357244e-02 -5.46909932e-01 -3.81102248e+01] [-5.46971087e-01 -3.84887142e-03 8.37142650e-01 5.97999984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.95420609899998 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:41.82, Y:-38.13, Z:59.83 [[-1.05159705e-02 9.99878070e-01 1.15438061e-02 4.18249246e+01] [-8.36533543e-01 -2.47229507e-03 -5.47910138e-01 -3.81327614e+01] [-5.47814792e-01 -1.54185878e-02 8.36457543e-01 5.98261918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98420609899998 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:41.81, Y:-38.16, Z:59.85 [[ 1.79958074e-02 9.99831600e-01 3.59479635e-03 4.18132789e+01] [-8.36077632e-01 1.70199543e-02 -5.48347075e-01 -3.81579102e+01] [-5.48315916e-01 6.86241953e-03 8.36243124e-01 5.98477618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01420609899998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:41.81, Y:-38.18, Z:59.87 [[ 2.05001911e-02 9.99784757e-01 3.19077871e-03 4.18133098e+01] [-8.35725903e-01 1.88877754e-02 -5.48821890e-01 -3.81825910e+01] [-5.48764027e-01 8.58433721e-03 8.35933222e-01 5.98694381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04420609899998 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:41.82, Y:-38.21, Z:59.89 [[ 1.25800562e-02 9.99916964e-01 2.79405840e-03 4.18160868e+01] [-8.35173636e-01 1.20438568e-02 -5.49854474e-01 -3.82079642e+01] [-5.49842468e-01 4.58367625e-03 8.35255800e-01 5.98903981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07420609899998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:41.82, Y:-38.24, Z:59.91 [[ 1.27300319e-02 9.99915686e-01 2.56250292e-03 4.18180386e+01] [-8.41263838e-01 1.20953411e-02 -5.40489460e-01 -3.82369237e+01] [-5.40474884e-01 4.72470703e-03 8.41346883e-01 5.99079655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10420609899998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:41.82, Y:-38.26, Z:59.93 [[ 1.23675285e-02 9.99920818e-01 2.32418223e-03 4.18184677e+01] [-8.41269245e-01 1.16615434e-02 -5.40490578e-01 -3.82619783e+01] [-5.40474885e-01 4.72926963e-03 8.41346856e-01 5.99302119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13420609899998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:41.81, Y:-38.29, Z:59.95 [[ 4.12874537e-02 9.99144981e-01 -2.15697762e-03 4.18103668e+01] [-8.36936992e-01 3.34052482e-02 -5.46278831e-01 -3.82871229e+01] [-5.45739698e-01 2.43597163e-02 8.37600613e-01 5.99458519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16420609899998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:41.82, Y:-38.31, Z:59.97 [[ 1.84998976e-02 9.99822895e-01 3.45443346e-03 4.18201953e+01] [-8.38054415e-01 1.73907360e-02 -5.45309416e-01 -3.83115251e+01] [-5.45272914e-01 7.19316517e-03 8.38227718e-01 5.99666678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19420609899998 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:41.82, Y:-38.34, Z:59.99 [[ 8.23600666e-03 9.99958854e-01 3.80231655e-03 4.18246408e+01] [-8.38389214e-01 8.97760383e-03 -5.44998100e-01 -3.83360818e+01] [-5.45009811e-01 1.30078680e-03 8.38428657e-01 5.99875080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22420609899999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:41.83, Y:-38.36, Z:60.01 [[-4.46639922e-04 9.99978020e-01 6.61509944e-03 4.18283205e+01] [-8.38384233e-01 3.23130820e-03 -5.45070120e-01 -3.83584997e+01] [-5.45079515e-01 -5.78944515e-03 8.38364362e-01 6.00128087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.254206099 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:41.81, Y:-38.39, Z:60.03 [[ 3.93414085e-02 9.99209235e-01 -5.75839528e-03 4.18139841e+01] [-8.43081009e-01 3.00998629e-02 -5.36943583e-01 -3.83869085e+01] [-5.36345659e-01 2.59789105e-02 8.43598500e-01 6.00288654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.284206099 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:41.82, Y:-38.40, Z:60.04 [[ 2.23086474e-02 9.99703184e-01 9.79119450e-03 4.18214919e+01] [-8.39262842e-01 2.40484734e-02 -5.43193844e-01 -3.84022506e+01] [-5.43268079e-01 3.90053424e-03 8.39550225e-01 6.00444670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.314206099 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:41.82, Y:-38.43, Z:60.07 [[ 3.57218078e-02 9.99352535e-01 4.29695739e-03 4.18165026e+01] [-8.42885358e-01 3.24383497e-02 -5.37114538e-01 -3.84289263e+01] [-5.36906162e-01 1.55648598e-02 8.43498375e-01 6.00659730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34420609899996 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:41.83, Y:-38.45, Z:60.09 [[ 8.38400913e-03 9.99914933e-01 9.99175466e-03 4.18288344e+01] [-8.40543429e-01 1.24597267e-02 -5.41600867e-01 -3.84516083e+01] [-5.41679289e-01 -3.85771710e-03 8.40576389e-01 6.00887208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37420609899996 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:41.82, Y:-38.47, Z:60.11 [[ 1.88387599e-02 9.99779431e-01 9.28392197e-03 4.18243718e+01] [-8.40135613e-01 2.08633683e-02 -5.41974974e-01 -3.84735368e+01] [-5.42049124e-01 2.41038295e-03 8.40343345e-01 6.01089368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40420609899996 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:41.83, Y:-38.50, Z:60.13 [[ 1.04761574e-02 9.99901108e-01 9.38215848e-03 4.18278440e+01] [-8.39913655e-01 1.38906588e-02 -5.42542259e-01 -3.84956221e+01] [-5.42618930e-01 -2.19644492e-03 8.39976114e-01 6.01338334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43420609899997 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:41.82, Y:-38.52, Z:60.16 [[ 3.36061689e-02 9.99429697e-01 3.30241493e-03 4.18191054e+01] [-8.39332520e-01 3.00163834e-02 -5.42789036e-01 -3.85185842e+01] [-5.42578609e-01 1.54692358e-02 8.39862582e-01 6.01570977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.46420609899997 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:41.81, Y:-38.54, Z:60.18 [[ 4.58904508e-02 9.98946066e-01 9.07867070e-04 4.18146045e+01] [-8.39174528e-01 3.90437275e-02 -5.42458938e-01 -3.85437069e+01] [-5.41922669e-01 2.41318263e-02 8.40081827e-01 6.01766002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.49420609899997 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:41.82, Y:-38.57, Z:60.20 [[ 2.37080899e-02 9.99707943e-01 4.68553196e-03 4.18245611e+01] [-8.38274724e-01 2.24330584e-02 -5.44786422e-01 -3.85688350e+01] [-5.44732424e-01 8.98808247e-03 8.38561745e-01 6.01994120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.52420609899997 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:41.83, Y:-38.59, Z:60.22 [[ 9.99904793e-03 9.99929508e-01 6.40297324e-03 4.18311861e+01] [-8.40654162e-01 1.18734178e-02 -5.41442150e-01 -3.85945124e+01] [-5.41480008e-01 3.12199097e-05 8.40713626e-01 6.02215243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.55420609899997 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:41.82, Y:-38.62, Z:60.25 [[ 2.74036611e-02 9.99622133e-01 2.15177714e-03 4.18244289e+01] [-8.37299182e-01 2.41295079e-02 -5.46212272e-01 -3.86153924e+01] [-5.46057798e-01 1.31665348e-02 8.37644031e-01 6.02470147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.58420609899997 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:41.83, Y:-38.64, Z:60.27 [[ 2.38567240e-02 9.99713444e-01 1.97147995e-03 4.18268200e+01] [-8.42290224e-01 2.11622058e-02 -5.38608707e-01 -3.86427008e+01] [-5.38496086e-01 1.11888810e-02 8.42553722e-01 6.02660109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.61420609899997 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:41.82, Y:-38.66, Z:60.29 [[ 3.49499981e-02 9.99388987e-01 -3.88467295e-04 4.18221250e+01] [-8.40436124e-01 2.91808617e-02 -5.41124384e-01 -3.86644801e+01] [-5.40782414e-01 1.92387781e-02 8.40942478e-01 6.02850497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64420609899997 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:41.82, Y:-38.69, Z:60.30 [[ 3.14723342e-02 9.99504382e-01 6.95205783e-04 4.18238143e+01] [-8.41781765e-01 2.68809788e-02 -5.39148285e-01 -3.86898602e+01] [-5.38899761e-01 1.63830435e-02 8.42210569e-01 6.03046775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.67420609899997 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:41.83, Y:-38.71, Z:60.33 [[ 1.92333829e-02 9.99812674e-01 2.16665806e-03 4.18287534e+01] [-8.42583297e-01 1.73752631e-02 -5.38285694e-01 -3.87146162e+01] [-5.38222505e-01 8.52746497e-03 8.42759644e-01 6.03262856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70420609899998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:41.83, Y:-38.74, Z:60.35 [[ 2.17516546e-02 9.99762234e-01 1.53032440e-03 4.18286227e+01] [-8.42356185e-01 1.91513977e-02 -5.38580803e-01 -3.87376956e+01] [-5.38482055e-01 1.04259454e-02 8.42572476e-01 6.03480694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.73420609899998 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:41.83, Y:-38.76, Z:60.37 [[ 1.67136923e-02 9.99859178e-01 1.50864231e-03 4.18311768e+01] [-8.41254266e-01 1.48778831e-02 -5.40434926e-01 -3.87618904e+01] [-5.40381266e-01 7.76351127e-03 8.41384463e-01 6.03717915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76420609899998 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:41.83, Y:-38.79, Z:60.39 [[ 1.49188198e-02 9.99885343e-01 2.59404559e-03 4.18322867e+01] [-8.43421442e-01 1.39776409e-02 -5.37070662e-01 -3.87854782e+01] [-5.37045342e-01 5.82458675e-03 8.43533268e-01 6.03889962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79420609899998 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:41.83, Y:-39.31, Z:59.78 [[-1.94666156e-02 -9.96128794e-01 8.57232562e-02 4.18310738e+01] [ 4.18489520e-01 -8.59854510e-02 -9.04142148e-01 -3.93093514e+01] [ 9.08012980e-01 1.82736967e-02 4.18543307e-01 5.97806555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82420609899998 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:41.43, Y:-39.20, Z:60.16 [[ 9.42375737e-01 -3.01763547e-01 -1.44453220e-01 4.14259102e+01] [ 4.33688698e-02 5.38319226e-01 -8.41624353e-01 -3.91954087e+01] [ 3.31733496e-01 7.86861597e-01 5.20386121e-01 6.01609266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85420609899998 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:41.77, Y:-38.90, Z:60.58 [[ 1.71723207e-01 9.82906404e-01 6.63787637e-02 4.17712092e+01] [-7.54443913e-01 1.74539034e-01 -6.32732572e-01 -3.88965356e+01] [-6.33502582e-01 5.85758119e-02 7.71520157e-01 6.05837453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88420609899998 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:41.80, Y:-38.92, Z:60.60 [[ 1.13217746e-01 9.90301109e-01 8.05323235e-02 4.17993287e+01] [-7.64797172e-01 1.38602686e-01 -6.29185650e-01 -3.89192175e+01] [-6.34245243e-01 9.64408762e-03 7.73071771e-01 6.06029412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91420609899998 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:41.80, Y:-38.95, Z:60.62 [[ 1.21532639e-01 9.89453872e-01 7.88089679e-02 4.18004209e+01] [-7.64535238e-01 1.43949987e-01 -6.28302690e-01 -3.89459693e+01] [-6.33021079e-01 1.61070511e-02 7.73966973e-01 6.06205962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94420609899998 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:41.81, Y:-38.97, Z:60.64 [[ 1.13558734e-01 9.90189025e-01 8.14254858e-02 4.18078285e+01] [-7.67213763e-01 1.39468117e-01 -6.26044476e-01 -3.89706935e+01] [-6.31258628e-01 8.62206452e-03 7.75524470e-01 6.06392017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97420609899999 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:41.81, Y:-39.00, Z:60.66 [[ 1.10655178e-01 9.90764658e-01 7.83634114e-02 4.18133179e+01] [-7.68210362e-01 1.35290949e-01 -6.25738922e-01 -3.89990325e+01] [-6.30561869e-01 9.04166704e-03 7.76086321e-01 6.06589985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.004206099 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:41.82, Y:-39.02, Z:60.68 [[ 1.02645758e-01 9.91531116e-01 7.95606270e-02 4.18205067e+01] [-7.70162382e-01 1.29838566e-01 -6.24493276e-01 -3.90248715e+01] [-6.29534553e-01 2.82698376e-03 7.76967345e-01 6.06768480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.034206099 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:41.82, Y:-39.05, Z:60.69 [[ 1.08288558e-01 9.90869430e-01 8.03203625e-02 4.18215292e+01] [-7.69172807e-01 1.34697305e-01 -6.24683784e-01 -3.90495964e+01] [-6.29799001e-01 5.86586767e-03 7.76735998e-01 6.06925675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.064206099 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:41.82, Y:-39.08, Z:60.71 [[ 1.14014426e-01 9.90396581e-01 7.82005276e-02 4.18230570e+01] [-7.69568756e-01 1.37824564e-01 -6.23512886e-01 -3.90761697e+01] [-6.28302984e-01 1.09087811e-02 7.77892254e-01 6.07107765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09420609899996 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:41.83, Y:-39.10, Z:60.73 [[ 1.15341354e-01 9.90328715e-01 7.71064675e-02 4.18262237e+01] [-7.70035054e-01 1.38179660e-01 -6.22858248e-01 -3.91023783e+01] [-6.27488954e-01 1.24666309e-02 7.78525655e-01 6.07290792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12420609899996 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:41.82, Y:-39.13, Z:60.75 [[ 1.33693168e-01 9.88445920e-01 7.14198868e-02 4.18224454e+01] [-7.70123903e-01 1.48980050e-01 -6.20253270e-01 -3.91330660e+01] [-6.23726952e-01 2.79214623e-02 7.81143445e-01 6.07474402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15420609899996 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:41.83, Y:-39.16, Z:60.77 [[ 1.14650045e-01 9.90497529e-01 7.59605952e-02 4.18339051e+01] [-7.73980901e-01 1.36998453e-01 -6.18211119e-01 -3.91582492e+01] [-6.22743070e-01 1.20858825e-02 7.82333049e-01 6.07651932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18420609899997 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:41.84, Y:-39.18, Z:60.78 [[ 1.01439322e-01 9.91653370e-01 7.95842803e-02 4.18418548e+01] [-7.76195314e-01 1.28929830e-01 -6.17169290e-01 -3.91801273e+01] [-6.22278794e-01 8.32289148e-04 7.82795254e-01 6.07812234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.21420609899997 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:41.84, Y:-39.21, Z:60.80 [[ 1.17606087e-01 9.90231203e-01 7.49064293e-02 4.18389384e+01] [-7.74921515e-01 1.38681704e-01 -6.16655520e-01 -3.92065420e+01] [-6.21019689e-01 1.44758394e-02 7.83661276e-01 6.07992450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.24420609899997 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:41.84, Y:-39.23, Z:60.82 [[ 1.13550856e-01 9.90680273e-01 7.52249912e-02 4.18440659e+01] [-7.76630733e-01 1.35727490e-01 -6.15160753e-01 -3.92308576e+01] [-6.19637723e-01 1.14299899e-02 7.84804720e-01 6.08186661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.27420609899997 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:41.84, Y:-39.26, Z:60.84 [[ 1.26726585e-01 9.89340971e-01 7.17273642e-02 4.18418779e+01] [-7.74645439e-01 1.43872328e-01 -6.15812632e-01 -3.92583604e+01] [-6.19568250e-01 2.24765566e-02 7.84620920e-01 6.08379717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.30420609899997 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:41.85, Y:-39.28, Z:60.85 [[ 1.18417546e-01 9.90309036e-01 7.25623772e-02 4.18494416e+01] [-7.77529047e-01 1.37929243e-01 -6.13534111e-01 -3.92841808e+01] [-6.17596847e-01 1.62338479e-02 7.86327283e-01 6.08540746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.33420609899997 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:41.85, Y:-39.31, Z:60.87 [[ 1.19235827e-01 9.90268515e-01 7.17710670e-02 4.18520114e+01] [-7.78934696e-01 1.38123767e-01 -6.11704638e-01 -3.93111359e+01] [-6.15665133e-01 1.70321342e-02 7.87823806e-01 6.08715615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36420609899997 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:41.86, Y:-39.34, Z:60.89 [[ 1.05180439e-01 9.91720512e-01 7.36715718e-02 4.18612217e+01] [-7.81438507e-01 1.28242237e-01 -6.10661762e-01 -3.93352875e+01] [-6.15053603e-01 6.65986925e-03 7.88457172e-01 6.08914547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.39420609899997 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:41.87, Y:-39.36, Z:60.91 [[ 9.60498093e-02 9.92635732e-01 7.38155647e-02 4.18690331e+01] [-7.87766038e-01 1.21137458e-01 -6.03945681e-01 -3.93629946e+01] [-6.08439893e-01 -1.40527507e-04 7.93599948e-01 6.09122551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42420609899997 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:41.86, Y:-39.39, Z:60.93 [[ 1.29458394e-01 9.89416915e-01 6.55339004e-02 4.18574363e+01] [-7.78382078e-01 1.42344612e-01 -6.11440391e-01 -3.93884004e+01] [-6.14297863e-01 2.81456771e-02 7.88572100e-01 6.09299023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.45420609899998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:41.87, Y:-39.41, Z:60.95 [[ 9.59427002e-02 9.92681272e-01 7.33409185e-02 4.18742073e+01] [-7.83150468e-01 1.20758890e-01 -6.09993964e-01 -3.94117080e+01] [-6.14386152e-01 1.08749341e-03 7.89004736e-01 6.09526733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48420609899998 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:41.86, Y:-39.44, Z:60.97 [[ 1.36140046e-01 9.88743524e-01 6.20655342e-02 4.18605400e+01] [-7.78158810e-01 1.45497308e-01 -6.10982324e-01 -3.94411431e+01] [-6.13135185e-01 3.48823198e-02 7.89207494e-01 6.09677322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51420609899998 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:41.88, Y:-39.47, Z:60.99 [[ 1.07899300e-01 9.91736339e-01 6.94029936e-02 4.18763743e+01] [-7.82637668e-01 1.27783743e-01 -6.09220481e-01 -3.94658954e+01] [-6.13054664e-01 1.14170661e-02 7.89957992e-01 6.09865133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54420609899998 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:41.88, Y:-39.49, Z:61.01 [[ 1.10209617e-01 9.91571711e-01 6.81130143e-02 4.18787871e+01] [-7.82879780e-01 1.28826350e-01 -6.08689594e-01 -3.94918418e+01] [-6.12334133e-01 1.37591457e-02 7.90479345e-01 6.10054072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57420609899998 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:41.89, Y:-39.52, Z:61.03 [[ 9.55699446e-02 9.92945631e-01 7.01809022e-02 4.18883535e+01] [-7.88913151e-01 1.18549033e-01 -6.02961165e-01 -3.95188213e+01] [-6.07027533e-01 2.25832844e-03 7.94677592e-01 6.10269465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60420609899998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:41.88, Y:-39.55, Z:61.04 [[ 1.26407609e-01 9.90165402e-01 5.99465858e-02 4.18782597e+01] [-7.87487234e-01 1.36914649e-01 -6.00931140e-01 -3.95480154e+01] [-6.03228789e-01 2.87550977e-02 7.97049667e-01 6.10416515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63420609899998 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:41.89, Y:-39.57, Z:61.06 [[ 1.02449107e-01 9.92410587e-01 6.80103431e-02 4.18914030e+01] [-7.86844136e-01 1.22677630e-01 -6.04835932e-01 -3.95699176e+01] [-6.08588930e-01 8.45136163e-03 7.93440665e-01 6.10623416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66420609899998 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:41.89, Y:-39.60, Z:61.08 [[ 1.06814189e-01 9.92080547e-01 6.60826601e-02 4.18928810e+01] [-7.87032057e-01 1.24977810e-01 -6.04120095e-01 -3.95958960e+01] [-6.07594660e-01 1.25194264e-02 7.94148596e-01 6.10811225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69420609899998 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:41.89, Y:-39.62, Z:61.10 [[ 1.10234021e-01 9.91896963e-01 6.31575496e-02 4.18948015e+01] [-7.88477463e-01 1.25960293e-01 -6.02027653e-01 -3.96247455e+01] [-6.05104744e-01 1.65656243e-02 7.95973510e-01 6.11006214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72420609899999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:41.91, Y:-39.65, Z:61.12 [[ 8.72993509e-02 9.93805330e-01 6.87734698e-02 4.19066016e+01] [-7.90526538e-01 1.11120485e-01 -6.02262427e-01 -3.96459887e+01] [-6.06173751e-01 -1.79013409e-03 7.95330233e-01 6.11191373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.754206099 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:41.90, Y:-39.67, Z:61.14 [[ 1.12057750e-01 9.91670703e-01 6.35002119e-02 4.18991764e+01] [-7.88340136e-01 1.27620709e-01 -6.01857777e-01 -3.96731880e+01] [-6.04948667e-01 1.73830626e-02 7.96074707e-01 6.11374350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.784206099 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:41.91, Y:-39.70, Z:61.16 [[ 1.02992563e-01 9.92626548e-01 6.39145389e-02 4.19073105e+01] [-7.91598679e-01 1.20703650e-01 -5.99000968e-01 -3.97006042e+01] [-6.02298982e-01 1.10979804e-02 7.98193443e-01 6.11585463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.814206099 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:41.92, Y:-39.72, Z:61.18 [[ 8.80398397e-02 9.93717918e-01 6.90918712e-02 4.19151144e+01] [-7.89327040e-01 1.11905206e-01 -6.03688702e-01 -3.97210501e+01] [-6.07628019e-01 -1.38742567e-03 7.94220539e-01 6.11830970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84420609899996 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:41.90, Y:-39.75, Z:61.19 [[ 1.26419624e-01 9.90440842e-01 5.51816756e-02 4.19028678e+01] [-7.94662827e-01 1.34412478e-01 -5.91983341e-01 -3.97534024e+01] [-5.93741585e-01 3.09874848e-02 8.04058895e-01 6.11942048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87420609899996 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:41.93, Y:-39.78, Z:61.22 [[ 7.22108292e-02 9.94982206e-01 6.92531993e-02 4.19289356e+01] [-8.01824736e-01 9.92068241e-02 -5.89266577e-01 -3.97753671e+01] [-5.93180149e-01 -1.29775001e-02 8.04965152e-01 6.12182467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90420609899996 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:41.92, Y:-39.80, Z:61.24 [[ 1.02505600e-01 9.92942751e-01 5.96430715e-02 4.19194142e+01] [-7.99182118e-01 1.17907052e-01 -5.89411460e-01 -3.98015637e+01] [-5.92284175e-01 1.27522990e-02 8.05628224e-01 6.12395293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93420609899997 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:41.92, Y:-39.83, Z:61.26 [[ 1.17609784e-01 9.91529688e-01 5.51073190e-02 4.19151276e+01] [-7.95618640e-01 1.27289345e-01 -5.92273925e-01 -3.98267817e+01] [-5.94271755e-01 2.58127983e-02 8.03849974e-01 6.12556289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.96420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.93, Y:-39.85, Z:61.28 [[ 8.12409953e-02 9.94573411e-01 6.49894600e-02 4.19341404e+01] [-8.00543422e-01 1.03957146e-01 -5.90189073e-01 -3.98518244e+01] [-5.93742479e-01 -4.07933697e-03 8.04644784e-01 6.12781844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.99420609899997 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:41.93, Y:-39.88, Z:61.30 [[ 8.47325252e-02 9.94494926e-01 6.16460943e-02 4.19349873e+01] [-8.02823350e-01 1.04784461e-01 -5.86936867e-01 -3.98797725e+01] [-5.90165289e-01 2.41718982e-04 8.07282400e-01 6.12966336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.02420609899997 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:41.93, Y:-39.90, Z:61.32 [[ 1.00298550e-01 9.93252727e-01 5.82170140e-02 4.19313035e+01] [-7.95337498e-01 1.15194589e-01 -5.95120551e-01 -3.99014794e+01] [-5.97811396e-01 1.33875541e-02 8.01524989e-01 6.13186670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.05420609899997 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:41.94, Y:-39.93, Z:61.34 [[ 9.01607569e-02 9.94087442e-01 6.05078126e-02 4.19390052e+01] [-7.97019227e-01 1.08451008e-01 -5.94136963e-01 -3.99263722e+01] [-5.97186227e-01 5.34194831e-03 8.02084829e-01 6.13385664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.08420609899997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:41.94, Y:-39.95, Z:61.36 [[ 8.90383052e-02 9.94238984e-01 5.96742996e-02 4.19422777e+01] [-7.98121324e-01 1.07061537e-01 -5.92908239e-01 -3.99518363e+01] [-5.95881308e-01 5.16421373e-03 8.03055912e-01 6.13590870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.11420609899997 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:41.94, Y:-39.98, Z:61.37 [[ 9.95271816e-02 9.93464831e-01 5.58745962e-02 4.19419892e+01] [-8.03485644e-01 1.13364351e-01 -5.84430786e-01 -3.99815119e+01] [-5.86945619e-01 1.32723131e-02 8.09517564e-01 6.13741097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14420609899997 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:41.94, Y:-40.01, Z:61.39 [[ 1.12260248e-01 9.92398190e-01 5.04328138e-02 4.19391401e+01] [-7.99188007e-01 1.20332333e-01 -5.88913116e-01 -4.00068903e+01] [-5.90505009e-01 2.58062325e-02 8.06621270e-01 6.13891276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.17420609899997 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:41.96, Y:-40.03, Z:61.41 [[ 7.65419665e-02 9.95362480e-01 5.82654313e-02 4.19571481e+01] [-8.08827544e-01 9.61567578e-02 -5.80130918e-01 -4.00341041e+01] [-5.83043164e-01 -2.72232444e-03 8.12436618e-01 6.14081441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20420609899998 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:41.96, Y:-40.05, Z:61.44 [[ 6.94523203e-02 9.95684401e-01 6.15544306e-02 4.19622137e+01] [-7.99618004e-01 9.24575751e-02 -5.93348670e-01 -4.00538524e+01] [-5.96479189e-01 -8.01058898e-03 8.02588567e-01 6.14361987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.23420609899998 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:41.96, Y:-40.08, Z:61.46 [[ 9.21021434e-02 9.94216801e-01 5.52281434e-02 4.19553068e+01] [-7.97854937e-01 1.06869127e-01 -5.93301348e-01 -4.00806666e+01] [-5.95772352e-01 1.05802790e-02 8.03083658e-01 6.14563930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26420609899998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:41.95, Y:-40.11, Z:61.47 [[ 1.21237987e-01 9.91553080e-01 4.60851477e-02 4.19467618e+01] [-7.98278166e-01 1.24989725e-01 -5.89177001e-01 -4.01110880e+01] [-5.89960440e-01 3.46418664e-02 8.06688677e-01 6.14704274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29420609899998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:41.97, Y:-40.13, Z:61.49 [[ 7.07693133e-02 9.95756504e-01 5.88276259e-02 4.19702490e+01] [-8.01608847e-01 9.18714508e-02 -5.90747741e-01 -4.01329464e+01] [-5.93645484e-01 -5.34993342e-03 8.04708902e-01 6.14918811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32420609899998 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:41.96, Y:-40.16, Z:61.51 [[ 9.56052656e-02 9.94010570e-01 5.29397847e-02 4.19620156e+01] [-8.00976567e-01 1.08397809e-01 -5.88800862e-01 -4.01595249e+01] [-5.91012837e-01 1.38889358e-02 8.06542575e-01 6.15078959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35420609899998 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:41.98, Y:-40.18, Z:61.53 [[ 6.14963049e-02 9.96181200e-01 6.19775840e-02 4.19788605e+01] [-8.03638287e-01 8.62447435e-02 -5.88835586e-01 -4.01808902e+01] [-5.91932182e-01 -1.35963467e-02 8.05873087e-01 6.15317421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38420609899998 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:41.96, Y:-40.21, Z:61.55 [[ 1.14121617e-01 9.92351156e-01 4.70684545e-02 4.19590035e+01] [-7.98687206e-01 1.19820061e-01 -5.89696447e-01 -4.02103718e+01] [-5.90825696e-01 2.97041394e-02 8.06252232e-01 6.15477005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41420609899998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:41.97, Y:-40.24, Z:61.57 [[ 9.35216849e-02 9.94280970e-01 5.15659486e-02 4.19714018e+01] [-8.02557815e-01 1.05936431e-01 -5.87093201e-01 -4.02379153e+01] [-5.89198310e-01 1.35212903e-02 8.07875316e-01 6.15679512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44420609899998 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:41.98, Y:-40.26, Z:61.59 [[ 7.97664400e-02 9.95299625e-01 5.49178684e-02 4.19793545e+01] [-8.04258325e-01 9.68084994e-02 -5.86341762e-01 -4.02623993e+01] [-5.88902252e-01 2.60224210e-03 8.08200078e-01 6.15867035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47420609899999 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:41.98, Y:-40.29, Z:61.60 [[ 7.92716474e-02 9.95420366e-01 5.34256538e-02 4.19818160e+01] [-8.03141133e-01 9.55224142e-02 -5.88081447e-01 -4.02871118e+01] [-5.90491597e-01 3.70984496e-03 8.07035260e-01 6.16040924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.504206099 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:41.98, Y:-40.31, Z:61.62 [[ 8.06773222e-02 9.95361850e-01 5.24018895e-02 4.19839935e+01] [-8.03577568e-01 9.60567673e-02 -5.87397812e-01 -4.03126980e+01] [-5.89706928e-01 5.28069956e-03 8.07600058e-01 6.16234292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.534206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.98, Y:-40.34, Z:61.64 [[ 8.36442801e-02 9.95181820e-01 5.11544677e-02 4.19848598e+01] [-8.03395232e-01 9.77170065e-02 -5.87373381e-01 -4.03395235e+01] [-5.89541971e-01 8.03316816e-03 8.07697798e-01 6.16440001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.564206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.99, Y:-40.36, Z:61.66 [[ 7.82177020e-02 9.95587657e-01 5.18382844e-02 4.19898739e+01] [-8.04619063e-01 9.37441926e-02 -5.86344770e-01 -4.03648677e+01] [-5.88617154e-01 4.15246862e-03 8.08401264e-01 6.16631788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59420609899996 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:42.00, Y:-40.39, Z:61.68 [[ 6.40912672e-02 9.96272564e-01 5.77346259e-02 4.19990904e+01] [-8.00325108e-01 8.58727882e-02 -5.93384855e-01 -4.03879384e+01] [-5.96130884e-01 -8.17568340e-03 8.02845643e-01 6.16847841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62420609899996 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:41.99, Y:-40.42, Z:61.70 [[ 8.84437687e-02 9.94783853e-01 5.08211081e-02 4.19922063e+01] [-7.95704729e-01 1.01251687e-01 -5.97161686e-01 -4.04165205e+01] [-5.99192526e-01 1.23766340e-02 8.00509298e-01 6.17021824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65420609899996 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:42.00, Y:-40.45, Z:61.72 [[ 8.42051499e-02 9.95201372e-01 4.98369448e-02 4.19972074e+01] [-8.01620437e-01 9.73641843e-02 -5.89851583e-01 -4.04466736e+01] [-5.91873439e-01 9.71822748e-03 8.05972325e-01 6.17174327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68420609899997 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:42.00, Y:-40.47, Z:61.74 [[ 8.37040531e-02 9.95262447e-01 4.94600183e-02 4.19999382e+01] [-8.01672937e-01 9.67372150e-02 -5.89883389e-01 -4.04728644e+01] [-5.91873410e-01 9.72487241e-03 8.05972266e-01 6.17381684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.71420609899997 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:41.99, Y:-40.50, Z:61.75 [[ 1.09156821e-01 9.93036234e-01 4.43150857e-02 4.19913307e+01] [-7.97607110e-01 1.14106070e-01 -5.92285998e-01 -4.04977366e+01] [-5.93218077e-01 2.93060295e-02 8.04508216e-01 6.17542279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.74420609899997 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:42.01, Y:-40.52, Z:61.78 [[ 6.54594965e-02 9.96275500e-01 5.61264862e-02 4.20115561e+01] [-8.01049133e-01 8.60052488e-02 -5.92387866e-01 -4.05197829e+01] [-5.95008690e-01 -6.18266171e-03 8.03695486e-01 6.17776798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.77420609899997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:41.99, Y:-40.55, Z:61.79 [[ 1.27967605e-01 9.91017496e-01 3.88408995e-02 4.19882857e+01] [-7.95574696e-01 1.25957003e-01 -5.92617699e-01 -4.05514311e+01] [-5.92186791e-01 4.49350310e-02 8.04546859e-01 6.17922278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.80420609899997 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:42.00, Y:-40.58, Z:61.81 [[ 1.01548000e-01 9.93775824e-01 4.57997194e-02 4.20013387e+01] [-7.98359898e-01 1.08874688e-01 -5.92256512e-01 -4.05766777e+01] [-5.93556633e-01 2.35778052e-02 8.04446773e-01 6.18127494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.83420609899997 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:42.01, Y:-40.60, Z:61.83 [[ 9.70160482e-02 9.94167136e-01 4.71125498e-02 4.20063735e+01] [-7.99288705e-01 1.06030277e-01 -5.91519354e-01 -4.06016910e+01] [-5.93064459e-01 1.97303412e-02 8.04913201e-01 6.18325367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86420609899997 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:42.02, Y:-40.62, Z:61.86 [[ 6.36794330e-02 9.96333144e-01 5.71418963e-02 4.20215823e+01] [-8.00511244e-01 8.51869070e-02 -5.93232618e-01 -4.06210309e+01] [-5.95925060e-01 -7.96601376e-03 8.03000539e-01 6.18574649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.89420609899997 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:42.00, Y:-40.65, Z:61.87 [[ 1.34596861e-01 9.90253546e-01 3.57994244e-02 4.19957857e+01] [-7.95690347e-01 1.29542120e-01 -5.91688863e-01 -4.06527979e+01] [-5.90559529e-01 5.11542070e-02 8.05371151e-01 6.18731866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92420609899997 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:42.03, Y:-40.67, Z:61.90 [[ 6.41720543e-02 9.96327617e-01 5.66853422e-02 4.20263360e+01] [-8.00094557e-01 8.53154200e-02 -5.93776035e-01 -4.06714335e+01] [-5.96431595e-01 -7.24980584e-03 8.02631168e-01 6.18984465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.95420609899998 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:42.01, Y:-40.70, Z:61.92 [[ 9.84800328e-02 9.94050765e-01 4.65269720e-02 4.20145981e+01] [-7.97171979e-01 1.06788702e-01 -5.94233126e-01 -4.06980216e+01] [-5.95666449e-01 2.14300994e-02 8.02945971e-01 6.19187375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98420609899998 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:42.02, Y:-40.72, Z:61.94 [[ 9.62222560e-02 9.94289079e-01 4.61573865e-02 4.20178495e+01] [-7.97051445e-01 1.04744770e-01 -5.94758377e-01 -4.07229358e+01] [-5.96196504e-01 2.04391812e-02 8.02578325e-01 6.19399449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01420609899998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:42.02, Y:-40.75, Z:61.96 [[ 1.00107366e-01 9.93930064e-01 4.56239242e-02 4.20189583e+01] [-7.99812275e-01 1.07662261e-01 -5.90516014e-01 -4.07510423e+01] [-5.91843595e-01 2.26244280e-02 8.05735251e-01 6.19575273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04420609899998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:42.02, Y:-40.77, Z:61.98 [[ 1.02716989e-01 9.93679041e-01 4.52899946e-02 4.20197414e+01] [-7.96490527e-01 1.09437227e-01 -5.94664892e-01 -4.07744303e+01] [-5.95862451e-01 2.50091358e-02 8.02697005e-01 6.19815851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07420609899998 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:42.02, Y:-40.80, Z:62.00 [[ 1.09302454e-01 9.92993310e-01 4.49139218e-02 4.20189246e+01] [-7.95848100e-01 1.14494973e-01 -5.94572706e-01 -4.08007205e+01] [-5.95549138e-01 2.92435963e-02 8.02786420e-01 6.20013549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10420609899998 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:42.02, Y:-40.83, Z:62.02 [[ 1.07599123e-01 9.93199950e-01 4.44554654e-02 4.20215920e+01] [-7.96495285e-01 1.12876985e-01 -5.94015192e-01 -4.08259302e+01] [-5.94993857e-01 2.85069449e-02 8.03224541e-01 6.20221128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13420609899998 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:42.02, Y:-40.85, Z:62.04 [[ 1.07139239e-01 9.93299467e-01 4.33284300e-02 4.20238008e+01] [-7.99746642e-01 1.11989730e-01 -5.89799635e-01 -4.08525113e+01] [-5.90700002e-01 2.85389179e-02 8.06386407e-01 6.20379129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16420609899998 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:42.02, Y:-40.88, Z:62.05 [[ 1.17618896e-01 9.92215562e-01 4.09154382e-02 4.20213481e+01] [-8.00770079e-01 1.19130635e-01 -5.87005257e-01 -4.08772801e+01] [-5.87310033e-01 3.62790517e-02 8.08548548e-01 6.20539971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19420609899998 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:42.03, Y:-40.90, Z:62.08 [[ 9.21025600e-02 9.94616412e-01 4.74901161e-02 4.20340010e+01] [-8.03053716e-01 1.02393321e-01 -5.87043727e-01 -4.09011231e+01] [-5.88745996e-01 1.59311160e-02 8.08161092e-01 6.20750108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22420609899999 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:42.01, Y:-40.94, Z:62.08 [[ 1.49222838e-01 9.88402655e-01 2.81555898e-02 4.20146430e+01] [-8.07071537e-01 1.38199041e-01 -5.74052749e-01 -4.09363016e+01] [-5.71286336e-01 6.29382051e-02 8.18334103e-01 6.20826516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.254206099 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:42.03, Y:-40.96, Z:62.10 [[ 1.21729868e-01 9.91884057e-01 3.67131617e-02 4.20274202e+01] [-8.11880951e-01 1.20780708e-01 -5.71192911e-01 -4.09586776e+01] [-5.70991384e-01 3.97245208e-02 8.19994391e-01 6.20991093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.284206099 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:42.06, Y:-40.98, Z:62.12 [[ 4.67376439e-02 9.97438467e-01 5.41488521e-02 4.20616595e+01] [-8.13977892e-01 6.94505350e-02 -5.76729239e-01 -4.09770633e+01] [-5.79012594e-01 -1.71210027e-02 8.15138815e-01 6.21224260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31420609899996 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:42.04, Y:-41.01, Z:62.14 [[ 1.00534819e-01 9.94166946e-01 3.90491224e-02 4.20415332e+01] [-8.10038326e-01 1.04577474e-01 -5.76976136e-01 -4.10064399e+01] [-5.77694262e-01 2.63749056e-02 8.15827006e-01 6.21409758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34420609899996 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:42.06, Y:-41.03, Z:62.16 [[ 7.38541009e-02 9.96185807e-01 4.64694584e-02 4.20555587e+01] [-8.15107637e-01 8.71452988e-02 -5.72717415e-01 -4.10292323e+01] [-5.74582555e-01 4.41991932e-03 8.18434696e-01 6.21599917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37420609899996 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:42.05, Y:-41.05, Z:62.18 [[ 9.37010936e-02 9.94744645e-01 4.12698081e-02 4.20495533e+01] [-8.13917921e-01 1.00408813e-01 -5.72237440e-01 -4.10545011e+01] [-5.73373982e-01 2.00290375e-02 8.19048909e-01 6.21806252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40420609899996 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:42.05, Y:-41.08, Z:62.20 [[ 9.38653056e-02 9.94801478e-01 3.94882719e-02 4.20518360e+01] [-8.15094137e-01 9.95629528e-02 -5.70709003e-01 -4.10800783e+01] [-5.71673729e-01 2.13831161e-02 8.20202359e-01 6.22008886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43420609899997 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:42.06, Y:-41.10, Z:62.22 [[ 8.79628886e-02 9.95310995e-01 4.02312418e-02 4.20564693e+01] [-8.16357319e-01 9.51732012e-02 -5.69651463e-01 -4.11048559e+01] [-5.70809300e-01 1.72651195e-02 8.20901126e-01 6.22209033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.46420609899997 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:42.06, Y:-41.13, Z:62.24 [[ 8.70217508e-02 9.95416828e-01 3.96554268e-02 4.20590483e+01] [-8.17172257e-01 9.40935221e-02 -5.68661508e-01 -4.11297552e+01] [-5.69786554e-01 1.70806055e-02 8.21615199e-01 6.22409224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.49420609899997 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:42.06, Y:-41.16, Z:62.26 [[ 9.67902914e-02 9.94622856e-01 3.68376647e-02 4.20562214e+01] [-8.14877183e-01 1.00441616e-01 -5.70864834e-01 -4.11552798e+01] [-5.71495246e-01 2.52360012e-02 8.20217244e-01 6.22624823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.52420609899997 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:42.07, Y:-41.18, Z:62.28 [[ 6.86692860e-02 9.96750780e-01 4.21000164e-02 4.20696881e+01] [-8.22828707e-01 8.04485094e-02 -5.62566402e-01 -4.11807796e+01] [-5.64125383e-01 3.98993107e-03 8.25679497e-01 6.22793683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.55420609899997 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:42.08, Y:-41.21, Z:62.30 [[ 5.97626935e-02 9.97221925e-01 4.44618065e-02 4.20752243e+01] [-8.27728067e-01 7.44024951e-02 -5.56174896e-01 -4.12069820e+01] [-5.57937870e-01 -3.56377538e-03 8.29875071e-01 6.22970396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.58420609899997 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:42.07, Y:-41.23, Z:62.32 [[ 6.62161238e-02 9.96933830e-01 4.16936844e-02 4.20745705e+01] [-8.28002254e-01 7.82170369e-02 -5.55242616e-01 -4.12318070e+01] [-5.56801304e-01 2.24354914e-03 8.30642688e-01 6.23179655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.61420609899997 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:42.07, Y:-41.26, Z:62.34 [[ 7.04693457e-02 9.96799294e-01 3.77523231e-02 4.20742169e+01] [-8.28139806e-01 7.95598641e-02 -5.54846547e-01 -4.12571705e+01] [-5.56074216e-01 7.83547160e-03 8.31095705e-01 6.23388151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64420609899997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:42.07, Y:-41.28, Z:62.36 [[ 9.71191643e-02 9.94742049e-01 3.24980728e-02 4.20658622e+01] [-8.20821468e-01 9.85197089e-02 -5.62624194e-01 -4.12785567e+01] [-5.62867644e-01 2.79664757e-02 8.26073781e-01 6.23590550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.67420609899997 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:42.08, Y:-41.31, Z:62.38 [[ 6.80728750e-02 9.96956434e-01 3.79993681e-02 4.20808369e+01] [-8.30354599e-01 7.77287749e-02 -5.51787529e-01 -4.13054722e+01] [-5.53061772e-01 6.00881349e-03 8.33118581e-01 6.23783817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70420609899998 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:42.07, Y:-41.33, Z:62.40 [[ 8.76442738e-02 9.95657536e-01 3.13775723e-02 4.20742137e+01] [-8.25049813e-01 9.02054357e-02 -5.57813396e-01 -4.13274965e+01] [-5.58221539e-01 2.30010899e-02 8.29373054e-01 6.23995207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73420609899998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:42.10, Y:-41.35, Z:62.42 [[ 3.75879616e-02 9.98290458e-01 4.47583238e-02 4.20964129e+01] [-8.32187432e-01 5.60671226e-02 -5.51652568e-01 -4.13498494e+01] [-5.53218965e-01 -1.65118190e-02 8.32872221e-01 6.24181879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76420609899998 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:42.09, Y:-41.37, Z:62.44 [[ 5.90745020e-02 9.97554596e-01 3.73501271e-02 4.20890728e+01] [-8.31186341e-01 6.98745876e-02 -5.51585722e-01 -4.13743594e+01] [-5.52846697e-01 1.53973634e-03 8.33281560e-01 6.24380000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79420609899998 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:42.09, Y:-41.40, Z:62.46 [[ 5.22894345e-02 9.97927535e-01 3.75026610e-02 4.20941564e+01] [-8.33208387e-01 6.42980164e-02 -5.49208110e-01 -4.13995084e+01] [-5.50481242e-01 -2.52975022e-03 8.34843699e-01 6.24585272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82420609899998 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] Translation: X:42.10, Y:-41.42, Z:62.48 [[ 4.90468708e-02 9.98144870e-01 3.60724605e-02 4.20974953e+01] [-8.35858250e-01 6.07890242e-02 -5.45569135e-01 -4.14245511e+01] [-5.46749843e-01 -3.39300482e-03 8.37289136e-01 6.24774897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85420609899998 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:42.09, Y:-41.45, Z:62.50 [[ 6.87247778e-02 9.97267347e-01 2.71061371e-02 4.20918825e+01] [-8.32941793e-01 7.23121895e-02 -5.48615454e-01 -4.14506372e+01] [-5.49076383e-01 1.51256407e-02 8.35635292e-01 6.25007172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88420609899998 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:42.09, Y:-41.47, Z:62.52 [[ 7.49291288e-02 9.96857652e-01 2.56991644e-02 4.20904461e+01] [-8.33643427e-01 7.67613573e-02 -5.46942713e-01 -4.14744329e+01] [-5.47196731e-01 1.95580015e-02 8.36775491e-01 6.25194994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91420609899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:42.11, Y:-41.50, Z:62.54 [[ 2.74037036e-02 9.98862196e-01 3.90301323e-02 4.21113377e+01] [-8.37124576e-01 4.42706118e-02 -5.45217899e-01 -4.14951715e+01] [-5.46325436e-01 -1.77320932e-02 8.37385270e-01 6.25388566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94420609899998 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:42.10, Y:-41.52, Z:62.56 [[ 5.02525651e-02 9.98199718e-01 3.27414420e-02 4.21035310e+01] [-8.35671702e-01 5.99776362e-02 -5.45944584e-01 -4.15183004e+01] [-5.46925485e-01 7.40191703e-05 8.37181288e-01 6.25591010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97420609899999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:42.10, Y:-41.55, Z:62.58 [[ 6.63714424e-02 9.97485042e-01 2.48680912e-02 4.20991599e+01] [-8.39689219e-01 6.93003075e-02 -5.38627407e-01 -4.15474783e+01] [-5.38996148e-01 1.48680099e-02 8.42176997e-01 6.25764154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.004206099 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:42.11, Y:-41.57, Z:62.60 [[ 4.04550753e-02 9.98616670e-01 3.35876830e-02 4.21108485e+01] [-8.41291151e-01 5.21788039e-02 -5.38058148e-01 -4.15690570e+01] [-5.39066402e-01 -6.48983764e-03 8.42238266e-01 6.25956251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.034206099 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:42.11, Y:-41.60, Z:62.62 [[ 4.80528639e-02 9.98509688e-01 2.58713361e-02 4.21108128e+01] [-8.43189569e-01 5.44361700e-02 -5.34853301e-01 -4.15963078e+01] [-5.35464539e-01 3.88679216e-03 8.44548767e-01 6.26165629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06420609899996 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:42.11, Y:-41.62, Z:62.64 [[ 6.35659520e-02 9.97716907e-01 2.28110326e-02 4.21052948e+01] [-8.44103547e-01 6.59447701e-02 -5.32109472e-01 -4.16207995e+01] [-5.32398884e-01 1.45691716e-02 8.46368222e-01 6.26355417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09420609899996 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:42.12, Y:-41.64, Z:62.66 [[ 3.07368034e-02 9.99054828e-01 3.07359634e-02 4.21201368e+01] [-8.44592041e-01 4.24047991e-02 -5.33728505e-01 -4.16418514e+01] [-5.34527392e-01 -9.55424198e-03 8.45097145e-01 6.26603370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12420609899996 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:42.10, Y:-41.67, Z:62.68 [[ 7.53901613e-02 9.96990828e-01 1.80447467e-02 4.21031651e+01] [-8.45315766e-01 7.34987130e-02 -5.29187297e-01 -4.16689302e+01] [-5.28921147e-01 2.46420068e-02 8.48313145e-01 6.26779385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15420609899996 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:42.11, Y:-41.69, Z:62.70 [[ 7.14613717e-02 9.97301763e-01 1.68067217e-02 4.21061530e+01] [-8.47665579e-01 6.96025669e-02 -5.25945385e-01 -4.16913071e+01] [-5.25696051e-01 2.33382992e-02 8.50352272e-01 6.26965743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18420609899997 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:42.13, Y:-41.71, Z:62.72 [[ 1.74180934e-02 9.99349274e-01 3.15854253e-02 4.21304865e+01] [-8.48128494e-01 3.14973388e-02 -5.28853454e-01 -4.17111763e+01] [-5.29504172e-01 -1.75768803e-02 8.48125218e-01 6.27221701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.21420609899997 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:42.10, Y:-41.74, Z:62.74 [[ 8.52896555e-02 9.96272541e-01 1.29111988e-02 4.21040725e+01] [-8.48705051e-01 7.94326868e-02 -5.22867273e-01 -4.17395384e+01] [-5.21943877e-01 3.36373699e-02 8.52316324e-01 6.27386720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.24420609899997 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:42.13, Y:-41.76, Z:62.76 [[ 3.20735523e-02 9.99138167e-01 2.63478707e-02 4.21267698e+01] [-8.49115440e-01 4.11444605e-02 -5.26602415e-01 -4.17593642e+01] [-5.27232640e-01 -5.48237369e-03 8.49703293e-01 6.27640778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.27420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.11, Y:-41.78, Z:62.78 [[ 6.57274183e-02 9.97703343e-01 1.63690792e-02 4.21144764e+01] [-8.49410647e-01 6.45514487e-02 -5.23769666e-01 -4.17834424e+01] [-5.23623395e-01 2.05219578e-02 8.51702642e-01 6.27834565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.30420609899997 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:42.12, Y:-41.81, Z:62.80 [[ 5.34035818e-02 9.98402973e-01 1.84271724e-02 4.21192302e+01] [-8.50119257e-01 5.51376988e-02 -5.23695601e-01 -4.18097797e+01] [-5.23875277e-01 1.23019268e-02 8.51706145e-01 6.28012914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.33420609899997 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:42.12, Y:-41.83, Z:62.82 [[ 4.73659346e-02 9.98692798e-01 1.92136048e-02 4.21230153e+01] [-8.51039699e-01 5.04186733e-02 -5.22675222e-01 -4.18336871e+01] [-5.22960704e-01 8.40545993e-03 8.52315347e-01 6.28225495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36420609899997 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:42.12, Y:-41.86, Z:62.84 [[ 6.80960253e-02 9.97518589e-01 1.78772365e-02 4.21150059e+01] [-8.49940116e-01 6.73865475e-02 -5.22552248e-01 -4.18563991e+01] [-5.22460267e-01 2.03891507e-02 8.52419822e-01 6.28439123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.39420609899997 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:42.12, Y:-41.88, Z:62.86 [[ 6.38821891e-02 9.97840654e-01 1.52674851e-02 4.21173024e+01] [-8.50903226e-01 6.24558922e-02 -5.21596550e-01 -4.18821019e+01] [-5.21423787e-01 2.03295771e-02 8.53055650e-01 6.28635867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42420609899997 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:42.13, Y:-41.90, Z:62.89 [[ 4.01459378e-02 9.98881420e-01 2.49842509e-02 4.21285585e+01] [-8.51132158e-01 4.72845958e-02 -5.22817575e-01 -4.19033166e+01] [-5.23414131e-01 -2.75897565e-04 8.52078383e-01 6.28865490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.45420609899998 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] Translation: X:42.12, Y:-41.93, Z:62.91 [[ 5.39290538e-02 9.98339185e-01 2.02615255e-02 4.21241994e+01] [-8.51564461e-01 5.65780945e-02 -5.21187959e-01 -4.19264558e+01] [-5.21468721e-01 1.08531785e-02 8.53201372e-01 6.29112844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48420609899998 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:42.11, Y:-41.95, Z:62.93 [[ 8.99517305e-02 9.95892150e-01 1.03687720e-02 4.21113992e+01] [-8.49297773e-01 8.21403803e-02 -5.21484660e-01 -4.19524045e+01] [-5.20194174e-01 3.81022726e-02 8.53197655e-01 6.29296012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51420609899998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:42.12, Y:-41.98, Z:62.95 [[ 6.48180821e-02 9.97759978e-01 1.65421360e-02 4.21233242e+01] [-8.51082710e-01 6.39292726e-02 -5.21125003e-01 -4.19751377e+01] [-5.21015198e-01 1.96995973e-02 8.53320039e-01 6.29525764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54420609899998 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:42.12, Y:-42.00, Z:62.97 [[ 6.50214982e-02 9.97771618e-01 1.49667213e-02 4.21240520e+01] [-8.52605855e-01 6.33421182e-02 -5.18701294e-01 -4.20001415e+01] [-5.18493453e-01 2.09660210e-02 8.54824523e-01 6.29737484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57420609899998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:42.13, Y:-42.02, Z:63.00 [[ 6.44024136e-02 9.97812764e-01 1.49002210e-02 4.21251554e+01] [-8.53194528e-01 6.28004572e-02 -5.17798416e-01 -4.20242343e+01] [-5.17601609e-01 2.06346807e-02 8.55372892e-01 6.29953501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60420609899998 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:42.13, Y:-42.05, Z:63.02 [[ 6.50925918e-02 9.97798815e-01 1.26680410e-02 4.21263876e+01] [-8.54269906e-01 6.22815239e-02 -5.16085205e-01 -4.20485864e+01] [-5.15738191e-01 2.27713974e-02 8.56443566e-01 6.30153412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63420609899998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:42.13, Y:-42.07, Z:63.04 [[ 5.86527459e-02 9.98186097e-01 1.35783578e-02 4.21301532e+01] [-8.55651886e-01 5.72745623e-02 -5.14372894e-01 -4.20716348e+01] [-5.14217566e-01 1.85510352e-02 8.57459127e-01 6.30366409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.13, Y:-42.09, Z:63.06 [[ 5.20696649e-02 9.98519917e-01 1.57074880e-02 4.21336961e+01] [-8.56805751e-01 5.27485684e-02 -5.12934201e-01 -4.20949517e+01] [-5.13003563e-01 1.32500458e-02 8.58284207e-01 6.30573178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69420609899998 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:42.13, Y:-42.12, Z:63.08 [[ 5.13850810e-02 9.98575565e-01 1.43671016e-02 4.21347760e+01] [-8.59433633e-01 5.15432043e-02 -5.08642437e-01 -4.21174589e+01] [-5.08658435e-01 1.37890624e-02 8.60857978e-01 6.30782820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72420609899999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:42.13, Y:-42.14, Z:63.10 [[ 5.89856951e-02 9.98191708e-01 1.15759254e-02 4.21321587e+01] [-8.57639243e-01 5.66075746e-02 -5.11126708e-01 -4.21416126e+01] [-5.10857727e-01 2.02211964e-02 8.59427417e-01 6.31009570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.754206099 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:42.13, Y:-42.17, Z:63.12 [[ 5.48134037e-02 9.98409706e-01 1.31738560e-02 4.21344443e+01] [-8.62082574e-01 5.39776284e-02 -5.03884958e-01 -4.21672094e+01] [-5.03794726e-01 1.62626979e-02 8.63670307e-01 6.31206817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.784206099 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:42.14, Y:-42.19, Z:63.15 [[ 4.90784313e-02 9.98698953e-01 1.38458875e-02 4.21367692e+01] [-8.58275452e-01 4.92596536e-02 -5.10819669e-01 -4.21856949e+01] [-5.10837113e-01 1.31866427e-02 8.59576382e-01 6.31465682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81420609899996 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:42.13, Y:-42.21, Z:63.17 [[ 5.66188786e-02 9.98336534e-01 1.08842590e-02 4.21346306e+01] [-8.58361118e-01 5.42425024e-02 -5.10170502e-01 -4.22093150e+01] [-5.09912241e-01 1.95426570e-02 8.60004414e-01 6.31685006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84420609899996 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:42.14, Y:-42.24, Z:63.19 [[ 5.24052407e-02 9.98569744e-01 1.05904488e-02 4.21362600e+01] [-8.63633738e-01 5.06432135e-02 -5.01569568e-01 -4.22369383e+01] [-5.01388529e-01 1.71386050e-02 8.65052490e-01 6.31853924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87420609899996 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:42.14, Y:-42.26, Z:63.21 [[ 4.34782744e-02 9.98981901e-01 1.20333466e-02 4.21409165e+01] [-8.64711582e-01 4.36617137e-02 -5.00367400e-01 -4.22611507e+01] [-5.00383373e-01 1.13497370e-02 8.65729555e-01 6.32077188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90420609899996 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:42.14, Y:-42.28, Z:63.23 [[ 4.01988532e-02 9.99121449e-01 1.18483028e-02 4.21425164e+01] [-8.60735415e-01 4.06484382e-02 -5.07427088e-01 -4.22805721e+01] [-5.07462902e-01 1.01997332e-02 8.61613236e-01 6.32316116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93420609899997 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:42.14, Y:-42.31, Z:63.25 [[ 5.01641461e-02 9.98708993e-01 7.99411720e-03 4.21397533e+01] [-8.60944343e-01 4.72985849e-02 -5.06495491e-01 -4.23057047e+01] [-5.06219712e-01 1.85254238e-02 8.62205551e-01 6.32529985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.96420609899997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:42.14, Y:-42.33, Z:63.27 [[ 5.71919449e-02 9.98342742e-01 6.39151315e-03 4.21384270e+01] [-8.62939418e-01 5.26525404e-02 -5.02556735e-01 -4.23318329e+01] [-5.02060398e-01 2.32267084e-02 8.64520605e-01 6.32745202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.99420609899997 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:42.14, Y:-42.36, Z:63.30 [[ 5.06873261e-02 9.98689784e-01 7.03642236e-03 4.21427305e+01] [-8.63929542e-01 4.73802709e-02 -5.01378955e-01 -4.23550346e+01] [-5.01055428e-01 1.93345854e-02 8.65199186e-01 6.32970438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.02420609899997 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:42.15, Y:-42.38, Z:63.32 [[ 4.12549786e-02 9.99095509e-01 1.03048374e-02 4.21472343e+01] [-8.64739658e-01 4.08699170e-02 -5.00554665e-01 -4.23759855e+01] [-5.00523076e-01 1.17393704e-02 8.65643597e-01 6.33203526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.05420609899997 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:42.14, Y:-42.40, Z:63.34 [[ 6.04290315e-02 9.98157208e-01 5.52445957e-03 4.21406623e+01] [-8.64187223e-01 5.50865457e-02 -5.00145895e-01 -4.23955051e+01] [-4.99528554e-01 2.54491647e-02 8.65923532e-01 6.33436368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.08420609899997 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:42.14, Y:-42.42, Z:63.37 [[ 5.44952079e-02 9.98491410e-01 6.72135765e-03 4.21435946e+01] [-8.64963769e-01 5.05685069e-02 -4.99279987e-01 -4.24195219e+01] [-4.98866667e-01 2.13946358e-02 8.66414634e-01 6.33664124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.11420609899997 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:42.14, Y:-42.44, Z:63.39 [[ 4.11982944e-02 9.99128569e-01 6.69350132e-03 4.21428500e+01] [-8.68972450e-01 3.91362618e-02 -4.93310485e-01 -4.24428455e+01] [-4.93142558e-01 1.45070824e-02 8.69827548e-01 6.33901328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14420609899997 meters Centerline goodness : 0.999863 Centerline is valid? [True, True] Translation: X:42.14, Y:-42.47, Z:63.41 [[ 3.82529575e-02 9.99244661e-01 6.84235734e-03 4.21446396e+01] [-8.69634725e-01 3.66625078e-02 -4.92332516e-01 -4.24661566e+01] [-4.92211496e-01 1.28828233e-02 8.70380305e-01 6.34121389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.17420609899997 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:42.15, Y:-42.49, Z:63.43 [[ 2.62594213e-02 9.99604395e-01 1.00745851e-02 4.21510199e+01] [-8.70601682e-01 2.78211516e-02 -4.91201277e-01 -4.24895509e+01] [-4.91287242e-01 4.12771054e-03 8.70987834e-01 6.34327432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20420609899998 meters Centerline goodness : 0.999796 Centerline is valid? [True, True] Translation: X:42.14, Y:-42.52, Z:63.45 [[ 6.21419280e-02 9.98064094e-01 -2.53890095e-03 4.21363233e+01] [-8.71764991e-01 5.30392779e-02 -4.87044798e-01 -4.25168143e+01] [-4.85967263e-01 3.24792277e-02 8.73373299e-01 6.34493937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.23420609899998 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:42.15, Y:-42.54, Z:63.46 [[ 3.78891457e-02 9.99271871e-01 4.48772714e-03 4.21460042e+01] [-8.77269878e-01 3.54130186e-02 -4.78689335e-01 -4.25390654e+01] [-4.78499712e-01 1.42001822e-02 8.77972881e-01 6.34646015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26420609899998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:42.16, Y:-42.56, Z:63.49 [[ 1.72065171e-02 9.99805457e-01 9.64285022e-03 4.21551758e+01] [-8.74845874e-01 1.97240238e-02 -4.83999649e-01 -4.25589907e+01] [-4.84095686e-01 -1.08059473e-04 8.75015060e-01 6.34900893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29420609899998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:42.15, Y:-42.58, Z:63.51 [[ 4.03544839e-02 9.99181448e-01 2.81947139e-03 4.21466678e+01] [-8.74265363e-01 3.66753442e-02 -4.84060940e-01 -4.25820961e+01] [-4.83768116e-01 1.70690633e-02 8.75029746e-01 6.35140922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32420609899998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:42.15, Y:-42.60, Z:63.53 [[ 2.48580192e-02 9.99672020e-01 6.15891508e-03 4.21536194e+01] [-8.76224092e-01 2.47534009e-02 -4.81267712e-01 -4.26042214e+01] [-4.81262319e-01 6.56677224e-03 8.76552028e-01 6.35338051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35420609899998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:42.15, Y:-42.63, Z:63.56 [[ 3.96974251e-02 9.99211169e-01 1.07405898e-03 4.21480983e+01] [-8.76225302e-01 3.53279542e-02 -4.80604990e-01 -4.26272291e+01] [-4.80263818e-01 1.81376629e-02 8.76936537e-01 6.35563770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38420609899998 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:42.15, Y:-42.65, Z:63.58 [[ 4.14163701e-02 9.99141807e-01 5.78114692e-04 4.21476809e+01] [-8.75757693e-01 3.65803808e-02 -4.81363001e-01 -4.26482233e+01] [-4.80971047e-01 1.94300199e-02 8.76521150e-01 6.35773301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41420609899998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] SLAMing on 147.44420609899998 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] SLAMing on 147.47420609899999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] SLAMing on 147.504206099 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] SLAMing on 147.534206099 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] SLAMing on 147.56420609899996 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] SLAMing on 147.59420609899996 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] SLAMing on 147.62420609899996 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] SLAMing on 147.65420609899996 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] SLAMing on 147.68420609899997 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] SLAMing on 147.71420609899997 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] SLAMing on 147.74420609899997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] SLAMing on 147.77420609899997 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] SLAMing on 147.80420609899997 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] SLAMing on 147.83420609899997 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] SLAMing on 147.86420609899997 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] SLAMing on 147.89420609899997 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] SLAMing on 147.92420609899997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] SLAMing on 147.95420609899998 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] SLAMing on 147.98420609899998 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] SLAMing on 148.01420609899998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] SLAMing on 148.04420609899998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] SLAMing on 148.07420609899998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] SLAMing on 148.10420609899998 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] SLAMing on 148.13420609899998 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] SLAMing on 148.16420609899998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] SLAMing on 148.19420609899998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] SLAMing on 148.22420609899999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] SLAMing on 148.254206099 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] SLAMing on 148.284206099 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] SLAMing on 148.31420609899996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] SLAMing on 148.34420609899996 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] SLAMing on 148.37420609899996 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] SLAMing on 148.40420609899996 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] SLAMing on 148.43420609899997 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] SLAMing on 148.46420609899997 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] SLAMing on 148.49420609899997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] SLAMing on 148.52420609899997 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] SLAMing on 148.55420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 148.58420609899997 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] SLAMing on 148.61420609899997 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] SLAMing on 148.64420609899997 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] SLAMing on 148.67420609899997 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] SLAMing on 148.70420609899998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] SLAMing on 148.73420609899998 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] SLAMing on 148.76420609899998 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] SLAMing on 148.79420609899998 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] SLAMing on 148.82420609899998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] SLAMing on 148.85420609899998 meters Centerline goodness : 0.999837 Centerline is valid? [True, True] SLAMing on 148.88420609899998 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] SLAMing on 148.91420609899998 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] SLAMing on 148.94420609899998 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] SLAMing on 148.97420609899999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] SLAMing on 149.004206099 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] SLAMing on 149.034206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 149.06420609899996 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] SLAMing on 149.09420609899996 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] SLAMing on 149.12420609899996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] SLAMing on 149.15420609899996 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] SLAMing on 149.18420609899997 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] SLAMing on 149.21420609899997 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] SLAMing on 149.24420609899997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] SLAMing on 149.27420609899997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] SLAMing on 149.30420609899997 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] SLAMing on 149.33420609899997 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] SLAMing on 149.36420609899997 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] SLAMing on 149.39420609899997 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] SLAMing on 149.42420609899997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] SLAMing on 149.45420609899998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] SLAMing on 149.48420609899998 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] SLAMing on 149.51420609899998 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] SLAMing on 149.54420609899998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] SLAMing on 149.57420609899998 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] SLAMing on 149.60420609899998 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] SLAMing on 149.63420609899998 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] SLAMing on 149.66420609899998 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] SLAMing on 149.69420609899998 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] SLAMing on 149.72420609899999 meters Centerline goodness : 0.999932 Centerline is valid? [True, True] SLAMing on 149.754206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 149.784206099 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] SLAMing on 149.81420609899996 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] SLAMing on 149.84420609899996 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] SLAMing on 149.87420609899996 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] SLAMing on 149.90420609899996 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] SLAMing on 149.93420609899997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] SLAMing on 149.96420609899997 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] SLAMing on 149.99420609899997 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] SLAMing on 150.02420609899997 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] SLAMing on 150.05420609899997 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] SLAMing on 150.08420609899997 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] SLAMing on 150.11420609899997 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] SLAMing on 150.14420609899997 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] SLAMing on 150.17420609899997 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] SLAMing on 150.20420609899998 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] SLAMing on 150.23420609899998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] SLAMing on 150.26420609899998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] SLAMing on 150.29420609899998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] SLAMing on 150.32420609899998 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] SLAMing on 150.35420609899998 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] SLAMing on 150.38420609899998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] SLAMing on 150.41420609899998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] SLAMing on 150.44420609899998 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] SLAMing on 150.47420609899999 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] SLAMing on 150.504206099 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] SLAMing on 150.534206099 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] SLAMing on 150.56420609899996 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] SLAMing on 150.59420609899996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] SLAMing on 150.62420609899996 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] SLAMing on 150.65420609899996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] SLAMing on 150.68420609899997 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] SLAMing on 150.71420609899997 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] SLAMing on 150.74420609899997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] SLAMing on 150.77420609899997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] SLAMing on 150.80420609899997 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] SLAMing on 150.83420609899997 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] SLAMing on 150.86420609899997 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] SLAMing on 150.89420609899997 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] SLAMing on 150.92420609899997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] SLAMing on 150.95420609899998 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] SLAMing on 150.98420609899998 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] SLAMing on 151.01420609899998 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] SLAMing on 151.04420609899998 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] SLAMing on 151.07420609899998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] SLAMing on 151.10420609899998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] SLAMing on 151.13420609899998 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] SLAMing on 151.16420609899998 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] SLAMing on 151.19420609899998 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] SLAMing on 151.22420609899999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] SLAMing on 151.254206099 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] SLAMing on 151.284206099 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] SLAMing on 151.31420609899996 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] SLAMing on 151.34420609899996 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] SLAMing on 151.37420609899996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] SLAMing on 151.40420609899996 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] SLAMing on 151.43420609899997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] SLAMing on 151.46420609899997 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] SLAMing on 151.49420609899997 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] SLAMing on 151.52420609899997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] SLAMing on 151.55420609899997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] SLAMing on 151.58420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] SLAMing on 151.61420609899997 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] SLAMing on 151.64420609899997 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] SLAMing on 151.67420609899997 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] SLAMing on 151.70420609899998 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] SLAMing on 151.73420609899998 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] SLAMing on 151.76420609899998 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] SLAMing on 151.79420609899998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] SLAMing on 151.82420609899998 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] SLAMing on 151.85420609899998 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] SLAMing on 151.88420609899998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] SLAMing on 151.91420609899998 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] SLAMing on 151.94420609899998 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] SLAMing on 151.97420609899999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] SLAMing on 152.004206099 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] SLAMing on 152.034206099 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] SLAMing on 152.06420609899996 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] SLAMing on 152.09420609899996 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] SLAMing on 152.12420609899996 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] SLAMing on 152.15420609899996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] SLAMing on 152.18420609899997 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] SLAMing on 152.21420609899997 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] SLAMing on 152.24420609899997 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:42.15, Y:-43.19, Z:63.00 [[-3.23510415e-02 9.94277195e-01 -1.01814875e-01 4.21518654e+01] [ 8.83942839e-01 7.60064106e-02 4.61376291e-01 -4.31948673e+01] [ 4.66474508e-01 -7.50725258e-02 -8.81343094e-01 6.30031412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.27420609899997 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:42.55, Y:-43.00, Z:63.24 [[-9.61623440e-01 2.38279285e-01 1.36026988e-01 4.25482123e+01] [ 2.71048581e-01 7.48066590e-01 6.05746683e-01 -4.29999472e+01] [ 4.25796415e-02 6.19370131e-01 -7.83943630e-01 6.32389671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.30420609899997 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:42.22, Y:-43.25, Z:63.08 [[-1.98322922e-01 9.69201874e-01 -1.45999131e-01 4.22174939e+01] [ 8.93355397e-01 2.40026341e-01 3.79872991e-01 -4.32501701e+01] [ 4.03217252e-01 -5.50915896e-02 -9.13444451e-01 6.30778045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.33420609899997 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:42.55, Y:-42.90, Z:63.28 [[-9.97693626e-01 -2.35675397e-02 6.36553122e-02 4.25545193e+01] [ 1.93904235e-02 7.99755681e-01 6.00012385e-01 -4.28977010e+01] [-6.50495133e-02 5.99862836e-01 -7.97454161e-01 6.32779354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36420609899997 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] SLAMing on 152.39420609899997 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] Translation: X:42.03, Y:-42.64, Z:63.57 [[ 2.03720076e-01 -9.42752453e-01 -2.64037767e-01 4.20345044e+01] [-5.67501362e-01 -3.33474741e-01 7.52819235e-01 -4.26449117e+01] [-7.97772107e-01 -3.52259997e-03 -6.02948801e-01 6.35662539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42420609899997 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] SLAMing on 152.45420609899998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:42.03, Y:-42.66, Z:63.57 [[ 2.01761913e-01 -9.39772292e-01 -2.75898838e-01 4.20349426e+01] [-5.52951734e-01 -3.41800332e-01 7.59879539e-01 -4.26556779e+01] [-8.08416050e-01 -7.56008468e-04 -5.88611007e-01 6.35739109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48420609899998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:41.83, Y:-42.95, Z:63.59 [[ 7.77427001e-01 -4.60133513e-01 -4.28817454e-01 4.18342023e+01] [-3.11445538e-02 -7.09099365e-01 7.04420405e-01 -4.29486282e+01] [-6.28201620e-01 -5.34280115e-01 -5.65603646e-01 6.35944141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51420609899998 meters Centerline goodness : 0.999836 Centerline is valid? [True, True] SLAMing on 152.54420609899998 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:42.07, Y:-42.65, Z:63.60 [[ 1.29615067e-01 -9.65318133e-01 -2.26629293e-01 4.20678819e+01] [-5.15546080e-01 -2.60842618e-01 8.16194443e-01 -4.26514867e+01] [-8.47001874e-01 1.10467461e-02 -5.31475112e-01 6.35994055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57420609899998 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:42.06, Y:-42.66, Z:63.60 [[ 1.53969146e-01 -9.58555717e-01 -2.39717418e-01 4.20572390e+01] [-5.08619277e-01 -2.84887458e-01 8.12493426e-01 -4.26559185e+01] [-8.47112704e-01 -3.17401945e-03 -5.31403795e-01 6.36005584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60420609899998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:42.06, Y:-42.67, Z:63.61 [[ 1.49170320e-01 -9.56270986e-01 -2.51583022e-01 4.20603197e+01] [-4.81627288e-01 -2.92474848e-01 8.26131720e-01 -4.26734726e+01] [-8.63587501e-01 -2.06508432e-03 -5.04194768e-01 6.36087704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63420609899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:42.05, Y:-42.67, Z:63.61 [[ 1.62437345e-01 -9.53851712e-01 -2.52549046e-01 4.20540769e+01] [-5.01999994e-01 -3.00236919e-01 8.11081869e-01 -4.26669093e+01] [-8.49476377e-01 -4.97036604e-03 -5.27603241e-01 6.36115904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66420609899998 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:42.07, Y:-42.68, Z:63.63 [[ 1.42915237e-01 -9.56607239e-01 -2.53924842e-01 4.20665784e+01] [-5.11359370e-01 -2.91029998e-01 8.08587123e-01 -4.26765783e+01] [-8.47400041e-01 1.42874267e-02 -5.30762696e-01 6.36254438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69420609899998 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:42.07, Y:-42.68, Z:63.63 [[ 1.43078280e-01 -9.55837774e-01 -2.56715321e-01 4.20666670e+01] [-5.12758153e-01 -2.93448317e-01 8.06825360e-01 -4.26767773e+01] [-8.46526835e-01 1.61936895e-02 -5.32099692e-01 6.36273375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72420609899999 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:42.25, Y:-43.25, Z:63.07 [[ -0.27354503 0.93805229 -0.21267587 42.25259575] [ 0.84680901 0.33972707 0.40926767 -43.25073406] [ 0.45616623 -0.06814271 -0.88728177 63.07116896] [ 0. 0. 0. 1. ]] SLAMing on 152.754206099 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:42.03, Y:-42.69, Z:63.62 [[ 2.05395647e-01 -9.16412785e-01 -3.43511625e-01 4.20310860e+01] [-4.86857905e-01 -4.00159086e-01 7.76429061e-01 -4.26861156e+01] [-8.48988816e-01 7.76620091e-03 -5.28353743e-01 6.36227930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78420609899996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:42.29, Y:-43.23, Z:63.08 [[-3.91605804e-01 8.87384522e-01 -2.43297356e-01 4.22900965e+01] [ 8.10955491e-01 4.57785014e-01 3.64395489e-01 -4.32272514e+01] [ 4.34736801e-01 -5.46039378e-02 -8.98900620e-01 6.30764155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81420609899996 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:42.54, Y:-42.87, Z:63.23 [[-9.96195012e-01 -1.11463422e-03 -8.71450308e-02 4.25420392e+01] [-5.05590069e-02 8.21853248e-01 5.67451342e-01 -4.28692082e+01] [ 7.09879260e-02 5.69698163e-01 -8.18782461e-01 6.32310758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84420609899996 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:41.98, Y:-42.69, Z:63.60 [[ 3.07085741e-01 -8.46467328e-01 -4.34961389e-01 4.19818281e+01] [-4.92822853e-01 -5.32432115e-01 6.88216302e-01 -4.26929030e+01] [-8.14140027e-01 3.01749974e-03 -5.80660754e-01 6.36035868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87420609899996 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:41.99, Y:-42.72, Z:63.61 [[ 3.03923394e-01 -8.48908025e-01 -4.32418473e-01 4.19900767e+01] [-4.55003637e-01 -5.28117029e-01 7.16982632e-01 -4.27160528e+01] [-8.37019869e-01 -2.11558169e-02 -5.46763359e-01 6.36130814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90420609899996 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:41.77, Y:-43.08, Z:63.38 [[ 0.80113012 0.14256007 -0.58126341 41.77037822] [ 0.48070958 -0.73183219 0.48305273 -43.08442521] [ -0.35652324 -0.66640699 -0.65482281 63.38255061] [ 0. 0. 0. 1. ]] SLAMing on 152.93420609899997 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:41.99, Y:-42.70, Z:63.60 [[ 2.57819106e-01 -8.71230961e-01 -4.17715120e-01 4.19927356e+01] [-4.23909391e-01 -4.90496606e-01 7.61389459e-01 -4.26990751e+01] [-8.68233918e-01 -1.92273878e-02 -4.95782383e-01 6.36033648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96420609899997 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:41.77, Y:-43.03, Z:63.42 [[ 8.00176042e-01 -2.25460619e-02 -5.99341286e-01 4.17717140e+01] [ 3.98393882e-01 -7.27001877e-01 5.59241080e-01 -4.30338148e+01] [-4.48330924e-01 -6.86265216e-01 -5.72747271e-01 6.34156856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.99420609899997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:42.08, Y:-43.24, Z:63.06 [[ 5.62646752e-02 9.00542658e-01 -4.31111594e-01 4.20820511e+01] [ 9.11790072e-01 1.29580220e-01 3.89676572e-01 -4.32352263e+01] [ 4.06783911e-01 -4.15008298e-01 -8.13815067e-01 6.30581253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.02420609899997 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:42.47, Y:-42.96, Z:63.09 [[ -0.90301686 0.40153205 -0.15274999 42.47472851] [ 0.266198 0.8020513 0.5346516 -42.96442916] [ 0.33719308 0.44213767 -0.83115288 63.09254335] [ 0. 0. 0. 1. ]] SLAMing on 153.05420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.36, Y:-42.62, Z:63.44 [[ -0.65791944 -0.73147991 -0.17910653 42.36364641] [ -0.55589861 0.31126796 0.77077168 -42.61941586] [ -0.50805388 0.60667075 -0.61141791 63.43639206] [ 0. 0. 0. 1. ]] SLAMing on 153.08420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.96, Y:-42.69, Z:63.58 [[ 2.88424837e-01 -8.36641413e-01 -4.65663247e-01 4.19641751e+01] [-4.03888266e-01 -5.47252682e-01 7.33068053e-01 -4.26906578e+01] [-8.68150553e-01 -2.33591121e-02 -4.95750915e-01 6.35792607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.11420609899997 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:41.77, Y:-43.06, Z:63.38 [[ 0.76507886 0.07006596 -0.64011335 41.77430978] [ 0.48578406 -0.71532223 0.50232256 -43.05630401] [ -0.4226916 -0.69527323 -0.58131484 63.38465264] [ 0. 0. 0. 1. ]] SLAMing on 153.14420609899997 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:42.12, Y:-43.22, Z:63.02 [[-6.27950501e-02 9.01228595e-01 -4.28770103e-01 4.21187830e+01] [ 8.85638282e-01 2.48381680e-01 3.92366377e-01 -4.32187452e+01] [ 4.60110437e-01 -3.55096552e-01 -8.13759685e-01 6.30153252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.17420609899997 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:41.97, Y:-42.69, Z:63.59 [[ 2.48731428e-01 -8.22776402e-01 -5.11049575e-01 4.19691151e+01] [-3.60841501e-01 -5.68364982e-01 7.39428603e-01 -4.26937884e+01] [-8.98847088e-01 4.88763719e-04 -4.38262105e-01 6.35933141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20420609899998 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:41.97, Y:-42.71, Z:63.59 [[ 2.42559636e-01 -8.22805813e-01 -5.13960522e-01 4.19694561e+01] [-3.12945052e-01 -5.67822811e-01 7.61342662e-01 -4.27089809e+01] [-9.18275676e-01 -2.38295963e-02 -3.95223902e-01 6.35873045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.23420609899998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:41.76, Y:-43.07, Z:63.35 [[ 0.74605209 0.1128109 -0.65626213 41.76079343] [ 0.56508998 -0.62860512 0.53434906 -43.07320384] [ -0.35224934 -0.76949938 -0.53272047 63.34908085] [ 0. 0. 0. 1. ]] SLAMing on 153.26420609899998 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:42.01, Y:-43.20, Z:63.03 [[ 0.16656468 0.82005991 -0.54750155 42.00515391] [ 0.89219751 0.11105948 0.43777779 -43.20181485] [ 0.41980926 -0.56139784 -0.71315683 63.0252349 ] [ 0. 0. 0. 1. ]] SLAMing on 153.29420609899998 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:41.98, Y:-42.71, Z:63.61 [[ 1.87342810e-01 -8.13404307e-01 -5.50705098e-01 4.19805066e+01] [-2.72087372e-01 -5.81665407e-01 7.66572773e-01 -4.27127927e+01] [-9.43859700e-01 6.22800541e-03 -3.30287872e-01 6.36069004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32420609899998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:41.98, Y:-42.71, Z:63.60 [[ 1.84514809e-01 -8.19969902e-01 -5.41852051e-01 4.19806245e+01] [-2.70978511e-01 -5.72392435e-01 7.73910554e-01 -4.27094189e+01] [-9.44735377e-01 4.03230411e-03 -3.27809104e-01 6.36041022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35420609899998 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:42.00, Y:-42.74, Z:63.61 [[ 1.62866254e-01 -8.24144526e-01 -5.42457725e-01 4.19972568e+01] [-2.18039188e-01 -5.66269232e-01 7.94857263e-01 -4.27410281e+01] [-9.62254382e-01 -1.11783834e-02 -2.71921952e-01 6.36104605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38420609899998 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:41.77, Y:-43.10, Z:63.29 [[ 0.69446777 0.19859494 -0.69157398 41.76898109] [ 0.68335375 -0.48295101 0.54752714 -43.09986913] [ -0.22526023 -0.85282962 -0.47110451 63.29300263] [ 0. 0. 0. 1. ]] SLAMing on 153.41420609899998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:42.01, Y:-42.76, Z:63.63 [[ 1.28179727e-01 -8.37206803e-01 -5.31652825e-01 4.20147991e+01] [-1.70504459e-01 -5.46695999e-01 8.19787603e-01 -4.27618180e+01] [-9.76984231e-01 -1.44309738e-02 -2.12822837e-01 6.36263567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44420609899998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:41.76, Y:-43.09, Z:63.30 [[ 0.70549807 0.13921449 -0.69490417 41.76069243] [ 0.67144805 -0.44505381 0.59252395 -43.08622124] [ -0.22678183 -0.88461655 -0.4074599 63.29802395] [ 0. 0. 0. 1. ]] SLAMing on 153.47420609899999 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:42.46, Y:-42.69, Z:63.25 [[ -0.96611228 -0.19832053 -0.1652151 42.45731825] [ -0.24312329 0.48414364 0.84053317 -42.69254632] [ -0.08670715 0.85221705 -0.51595345 63.24804088] [ 0. 0. 0. 1. ]] SLAMing on 153.504206099 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:42.00, Y:-42.74, Z:63.61 [[ 1.29603762e-01 -8.45098213e-01 -5.18663548e-01 4.20013264e+01] [-1.68573350e-01 -5.34239652e-01 8.28354405e-01 -4.27410897e+01] [-9.77131460e-01 -1.99249954e-02 -2.11700505e-01 6.36136051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53420609899996 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:41.75, Y:-43.06, Z:63.30 [[ 0.72244186 0.09736105 -0.68454261 41.7452346 ] [ 0.64089637 -0.46583204 0.61012487 -43.05526853] [ -0.25947948 -0.87950062 -0.39893491 63.30094617] [ 0. 0. 0. 1. ]] SLAMing on 153.56420609899996 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:42.00, Y:-42.71, Z:63.62 [[ 9.38072087e-02 -8.60700127e-01 -5.00395344e-01 4.20012448e+01] [-1.69170785e-01 -5.09082704e-01 8.43928934e-01 -4.27113595e+01] [-9.81112355e-01 5.48565528e-03 -1.93360943e-01 6.36157922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59420609899996 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:42.00, Y:-42.71, Z:63.62 [[ 9.29459396e-02 -8.66289814e-01 -4.90818714e-01 4.20027743e+01] [-1.69614927e-01 -4.99523331e-01 8.49533530e-01 -4.27102612e+01] [-9.81117643e-01 4.28948824e-03 -1.93364349e-01 6.36159455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62420609899996 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:41.94, Y:-43.12, Z:62.98 [[ 0.26692814 0.76031465 -0.5921748 41.93877083] [ 0.81037323 0.15547916 0.56490836 -43.1189564 ] [ 0.52157895 -0.63067254 -0.57463688 62.97636471] [ 0. 0. 0. 1. ]] SLAMing on 153.65420609899996 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:41.99, Y:-42.73, Z:63.61 [[ 8.86756351e-02 -8.39794526e-01 -5.35613467e-01 4.19895528e+01] [-9.04333718e-02 -5.42298867e-01 8.35304582e-01 -4.27288794e+01] [-9.91946791e-01 -2.56338325e-02 -1.24034147e-01 6.36128087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68420609899997 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:42.26, Y:-42.95, Z:62.90 [[-2.35158262e-01 -7.21348505e-01 6.51426839e-01 4.22608784e+01] [-3.92787974e-02 -6.62621374e-01 -7.47923853e-01 -4.29502805e+01] [ 9.71163101e-01 -2.01467736e-01 1.27487189e-01 6.28994305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71420609899997 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:42.01, Y:-42.78, Z:63.64 [[ 4.30401241e-01 7.74992105e-01 4.62754804e-01 4.20126251e+01] [-4.76000954e-01 6.30463476e-01 -6.13138563e-01 -4.27754725e+01] [-7.66927548e-01 4.36238699e-02 6.40249244e-01 6.36410771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.74420609899997 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:42.05, Y:-42.78, Z:63.66 [[ 3.71662972e-01 7.95011587e-01 4.79398803e-01 4.20543398e+01] [-5.14215159e-01 6.06229547e-01 -6.06686498e-01 -4.27796725e+01] [-7.72948515e-01 -2.10312246e-02 6.34120084e-01 6.36590163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.77420609899997 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:42.06, Y:-42.82, Z:63.67 [[ 4.15495255e-01 7.81809329e-01 4.64906299e-01 4.20567200e+01] [-4.90380278e-01 6.23006953e-01 -6.09417360e-01 -4.28164399e+01] [-7.66088034e-01 2.52291415e-02 6.42240309e-01 6.36654361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.80420609899997 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:42.08, Y:-42.83, Z:63.68 [[ 3.85959971e-01 7.88786267e-01 4.78383869e-01 4.20843584e+01] [-5.04833203e-01 6.14621018e-01 -6.06122464e-01 -4.28312739e+01] [-7.72125856e-01 -7.56505243e-03 6.35424607e-01 6.36841680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.83420609899997 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:42.08, Y:-42.87, Z:63.69 [[ 4.42812281e-01 7.67720775e-01 4.63165300e-01 4.20799810e+01] [-4.66255772e-01 6.38399830e-01 -6.12414249e-01 -4.28700537e+01] [-7.65847791e-01 5.52310562e-02 6.40645527e-01 6.36889027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86420609899997 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:42.11, Y:-42.89, Z:63.70 [[ 4.13477595e-01 7.79117535e-01 4.71181647e-01 4.21123172e+01] [-4.89193962e-01 6.26546749e-01 -6.06735889e-01 -4.28850224e+01] [-7.67935900e-01 2.03724800e-02 6.40202637e-01 6.37026242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.89420609899997 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:42.14, Y:-42.90, Z:63.71 [[ 3.99607596e-01 7.85880208e-01 4.71917438e-01 4.21373465e+01] [-5.01213805e-01 6.18355520e-01 -6.05327327e-01 -4.29038783e+01] [-7.67527518e-01 5.36186293e-03 6.40993572e-01 6.37119581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92420609899997 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:42.16, Y:-42.92, Z:63.73 [[ 3.88545344e-01 7.89424316e-01 4.75228118e-01 4.21578728e+01] [-5.04607576e-01 6.13835415e-01 -6.07105656e-01 -4.29221131e+01] [-7.70975816e-01 -3.91563311e-03 6.36852384e-01 6.37278775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.95420609899998 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:42.17, Y:-42.95, Z:63.74 [[ 3.97109476e-01 7.86230138e-01 4.73440846e-01 4.21719876e+01] [-4.95979508e-01 6.17888781e-01 -6.10096535e-01 -4.29488544e+01] [-7.72210070e-01 7.45815742e-03 6.35323527e-01 6.37430068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.18, Y:-42.98, Z:63.75 [[ 4.24533977e-01 7.76625430e-01 4.65428668e-01 4.21795168e+01] [-4.76535030e-01 6.28749591e-01 -6.14482153e-01 -4.29807628e+01] [-7.69860550e-01 3.90754881e-02 6.37014787e-01 6.37540931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01420609899998 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:42.20, Y:-43.00, Z:63.77 [[ 4.07069394e-01 7.82924789e-01 4.70450086e-01 4.22045158e+01] [-4.92144466e-01 6.21899445e-01 -6.09126346e-01 -4.29976129e+01] [-7.69472763e-01 1.64272856e-02 6.38468332e-01 6.37670292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04420609899998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:42.23, Y:-43.02, Z:63.78 [[ 4.02845085e-01 7.84356482e-01 4.71699848e-01 4.22255953e+01] [-4.94635670e-01 6.20195197e-01 -6.08846017e-01 -4.30197813e+01] [-7.70098300e-01 1.19510552e-02 6.37813280e-01 6.37800595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07420609899998 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:42.23, Y:-43.05, Z:63.79 [[ 4.36770952e-01 7.73409179e-01 4.59422875e-01 4.22312957e+01] [-4.75172596e-01 6.32003992e-01 -6.12194379e-01 -4.30542394e+01] [-7.63833843e-01 4.90835616e-02 6.43543832e-01 6.37870296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10420609899998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:42.27, Y:-43.06, Z:63.80 [[ 3.96294614e-01 7.88061186e-01 4.71073398e-01 4.22656203e+01] [-5.05075661e-01 6.15594278e-01 -6.04931618e-01 -4.30639185e+01] [-7.66713216e-01 1.80343377e-03 6.41987221e-01 6.38018943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13420609899998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:42.28, Y:-43.09, Z:63.81 [[ 4.17554107e-01 7.81446882e-01 4.63669429e-01 4.22752164e+01] [-4.91729267e-01 6.23437054e-01 -6.07888615e-01 -4.30937440e+01] [-7.64101365e-01 2.58265592e-02 6.44579005e-01 6.38115586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16420609899998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:42.30, Y:-43.11, Z:63.83 [[ 3.84724366e-01 7.92746488e-01 4.72800347e-01 4.23048895e+01] [-5.10959531e-01 6.09493943e-01 -6.06166224e-01 -4.31070301e+01] [-7.68705093e-01 -8.37492777e-03 6.39548545e-01 6.38294785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19420609899998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:42.31, Y:-43.14, Z:63.84 [[ 4.16536346e-01 7.82059964e-01 4.63551168e-01 4.23090549e+01] [-4.88764114e-01 6.22573796e-01 -6.11155880e-01 -4.31386532e+01] [-7.66555356e-01 2.80014613e-02 6.41567459e-01 6.38407883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22420609899999 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:42.33, Y:-43.16, Z:63.85 [[ 4.19789216e-01 7.82578852e-01 4.59725303e-01 4.23295135e+01] [-4.93446183e-01 6.21902848e-01 -6.08068838e-01 -4.31634535e+01] [-7.61766289e-01 2.84110445e-02 6.47228657e-01 6.38490000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.254206099 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:42.36, Y:-43.18, Z:63.87 [[ 3.93556067e-01 7.91151755e-01 4.68180012e-01 4.23567557e+01] [-5.08178771e-01 6.11619477e-01 -6.06362888e-01 -4.31772382e+01] [-7.66073077e-01 7.18649968e-04 6.42753082e-01 6.38655032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28420609899996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:42.37, Y:-43.21, Z:63.87 [[ 4.20372132e-01 7.83448918e-01 4.57706308e-01 4.23652527e+01] [-4.96006155e-01 6.20816917e-01 -6.07094926e-01 -4.32090892e+01] [-7.59779682e-01 2.81806424e-02 6.49569617e-01 6.38730298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31420609899996 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:42.39, Y:-43.23, Z:63.88 [[ 4.09639695e-01 7.87713117e-01 4.60112340e-01 4.23869662e+01] [-5.04734026e-01 6.15845151e-01 -6.04961414e-01 -4.32279532e+01] [-7.59893995e-01 1.55818559e-02 6.49860233e-01 6.38839751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34420609899996 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:42.41, Y:-43.25, Z:63.90 [[ 4.04413845e-01 7.89747886e-01 4.61245833e-01 4.24066029e+01] [-5.09935950e-01 6.13369853e-01 -6.03110894e-01 -4.32488435e+01] [-7.59219842e-01 8.70056333e-03 6.50776099e-01 6.38963536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37420609899996 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:42.42, Y:-43.27, Z:63.91 [[ 4.07078810e-01 7.88883122e-01 4.60380562e-01 4.24238605e+01] [-5.08332326e-01 6.14433818e-01 -6.03381579e-01 -4.32737387e+01] [-7.58870930e-01 1.15975330e-02 6.51137780e-01 6.39079103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40420609899996 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:42.44, Y:-43.30, Z:63.92 [[ 4.07621227e-01 7.89673524e-01 4.58541886e-01 4.24424924e+01] [-5.09485347e-01 6.13402728e-01 -6.03458179e-01 -4.32975605e+01] [-7.57805791e-01 1.23619916e-02 6.52363062e-01 6.39205014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43420609899997 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:42.47, Y:-43.32, Z:63.94 [[ 3.86619202e-01 7.96899337e-01 4.64195044e-01 4.24681996e+01] [-5.22070129e-01 6.04036778e-01 -6.02148115e-01 -4.33151039e+01] [-7.60242312e-01 -9.54034272e-03 6.49569556e-01 6.39372891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46420609899997 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:42.47, Y:-43.35, Z:63.95 [[ 4.13893769e-01 7.87721934e-01 4.56274153e-01 4.24738181e+01] [-5.02802998e-01 6.15647903e-01 -6.06767505e-01 -4.33458814e+01] [-7.58868298e-01 2.17212774e-02 6.50881781e-01 6.39497412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.49420609899997 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:42.49, Y:-43.37, Z:63.96 [[ 4.24353630e-01 7.84900277e-01 4.51503656e-01 4.24893266e+01] [-4.99487370e-01 6.18807521e-01 -6.06291694e-01 -4.33722576e+01] [-7.55272377e-01 3.17617078e-02 6.54640993e-01 6.39573395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.52420609899997 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:42.51, Y:-43.39, Z:63.97 [[ 4.03684295e-01 7.95020648e-01 4.52748450e-01 4.25145586e+01] [-5.17738442e-01 6.06512945e-01 -6.03397840e-01 -4.33910478e+01] [-7.54311538e-01 9.17695507e-03 6.56452502e-01 6.39672215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.55420609899997 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:42.53, Y:-43.41, Z:63.98 [[ 3.75672435e-01 8.09623747e-01 4.50976285e-01 4.25341984e+01] [-5.40997704e-01 5.86685334e-01 -6.02595887e-01 -4.34117286e+01] [-7.52457112e-01 -1.75984709e-02 6.58406097e-01 6.39830562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.58420609899997 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:42.55, Y:-43.43, Z:64.00 [[ 3.76555617e-01 8.09615952e-01 4.50253126e-01 4.25527875e+01] [-5.43325138e-01 5.86668150e-01 -6.00515009e-01 -4.34328148e+01] [-7.50335699e-01 -1.85065417e-02 6.60797886e-01 6.39952802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.61420609899997 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:42.58, Y:-43.44, Z:64.01 [[ 3.52834077e-01 8.15676562e-01 4.58453770e-01 4.25811733e+01] [-5.59641062e-01 5.76632122e-01 -5.95228761e-01 -4.34428710e+01] [-7.49873320e-01 -4.65525643e-02 6.59941560e-01 6.40135409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64420609899997 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:42.59, Y:-43.47, Z:64.03 [[ 3.75074720e-01 8.09871212e-01 4.51029461e-01 4.25903583e+01] [-5.43323824e-01 5.86277723e-01 -6.00897374e-01 -4.34723350e+01] [-7.51078010e-01 -1.96736371e-02 6.59920276e-01 6.40285017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.67420609899997 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:42.60, Y:-43.50, Z:64.04 [[ 4.00472575e-01 8.02743547e-01 4.41842182e-01 4.25970875e+01] [-5.25246627e-01 5.96221603e-01 -6.07153836e-01 -4.35030940e+01] [-7.50824678e-01 1.10723445e-02 6.60408742e-01 6.40402374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70420609899998 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:42.62, Y:-43.52, Z:64.05 [[ 3.87589057e-01 8.08690141e-01 4.42487264e-01 4.26214678e+01] [-5.44241681e-01 5.88166645e-01 -5.98214837e-01 -4.35205197e+01] [-7.44026690e-01 -8.95848800e-03 6.68089837e-01 6.40460132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.73420609899998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:42.66, Y:-43.53, Z:64.06 [[ 3.43525125e-01 8.23471547e-01 4.51536376e-01 4.26575610e+01] [-5.75300940e-01 5.64542883e-01 -5.91878502e-01 -4.35277490e+01] [-7.42306754e-01 -5.64441652e-02 6.67678620e-01 6.40607620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76420609899998 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:42.67, Y:-43.55, Z:64.08 [[ 3.37588225e-01 8.23793329e-01 4.55410520e-01 4.26741223e+01] [-5.73195594e-01 5.63678073e-01 -5.94738464e-01 -4.35466541e+01] [-7.46646504e-01 -6.02626015e-02 6.62485787e-01 6.40805393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79420609899998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:42.68, Y:-43.58, Z:64.09 [[ 3.60257451e-01 8.19028851e-01 4.46549337e-01 4.26841781e+01] [-5.65089946e-01 5.72471695e-01 -5.94095541e-01 -4.35770568e+01] [-7.42218244e-01 -3.83131957e-02 6.69062163e-01 6.40922649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82420609899998 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:42.70, Y:-43.60, Z:64.11 [[ 3.69106473e-01 8.17094739e-01 4.42850538e-01 4.26969847e+01] [-5.56192302e-01 5.75953422e-01 -5.99105816e-01 -4.36009892e+01] [-7.44587493e-01 -2.51762251e-02 6.67049940e-01 6.41083375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85420609899998 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:42.72, Y:-43.62, Z:64.12 [[ 3.59219625e-01 8.21400685e-01 4.43014871e-01 4.27204097e+01] [-5.70760920e-01 5.68935009e-01 -5.92068348e-01 -4.36218730e+01] [-7.38372016e-01 -4.01730054e-02 6.73196031e-01 6.41164264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88420609899998 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:42.74, Y:-43.65, Z:64.13 [[ 3.65044475e-01 8.20853058e-01 4.39252534e-01 4.27360629e+01] [-5.66848538e-01 5.70245176e-01 -5.94561329e-01 -4.36462002e+01] [-7.38529123e-01 -3.19483289e-02 6.73464207e-01 6.41337504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91420609899998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:42.76, Y:-43.67, Z:64.14 [[ 3.50330276e-01 8.25806640e-01 4.41941275e-01 4.27608766e+01] [-5.80649050e-01 5.61719110e-01 -5.89337189e-01 -4.36651821e+01] [-7.34925424e-01 -5.01501207e-02 6.76291052e-01 6.41446812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94420609899998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:42.78, Y:-43.69, Z:64.16 [[ 3.51377831e-01 8.25964195e-01 4.40813758e-01 4.27773284e+01] [-5.81495851e-01 5.61546248e-01 -5.88666618e-01 -4.36876242e+01] [-7.33754861e-01 -4.94869722e-02 6.77609655e-01 6.41579694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97420609899999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:42.79, Y:-43.71, Z:64.17 [[ 3.54663043e-01 8.25654351e-01 4.38758498e-01 4.27935717e+01] [-5.80432782e-01 5.62315823e-01 -5.88981069e-01 -4.37117700e+01] [-7.33015628e-01 -4.57799973e-02 6.78669493e-01 6.41716459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.004206099 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.81, Y:-43.73, Z:64.19 [[ 3.50900310e-01 8.27737512e-01 4.37857949e-01 4.28144909e+01] [-5.87008875e-01 5.58751518e-01 -5.85847524e-01 -4.37334390e+01] [-7.29581766e-01 -5.14524245e-02 6.81955347e-01 6.41852662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03420609899996 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:42.84, Y:-43.76, Z:64.19 [[ 3.48342772e-01 8.34489356e-01 4.26948273e-01 4.28430965e+01] [-5.96687326e-01 5.48680255e-01 -5.85588775e-01 -4.37576672e+01] [-7.22925687e-01 -5.07690060e-02 6.89058023e-01 6.41901973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06420609899996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.84, Y:-43.79, Z:64.21 [[ 3.86725642e-01 8.17989021e-01 4.25837105e-01 4.28356538e+01] [-5.65933436e-01 5.75097169e-01 -5.90747486e-01 -4.37909653e+01] [-7.28122671e-01 -1.25382554e-02 6.85332159e-01 6.42142333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09420609899996 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:42.86, Y:-43.81, Z:64.23 [[ 3.73430272e-01 8.22103144e-01 4.29763019e-01 4.28586906e+01] [-5.76507703e-01 5.68617789e-01 -5.86781628e-01 -4.38086381e+01] [-7.26765919e-01 -2.86396681e-02 6.86287890e-01 6.42280801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12420609899996 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:42.88, Y:-43.83, Z:64.24 [[ 3.72695546e-01 8.23079776e-01 4.28529711e-01 4.28764060e+01] [-5.79413088e-01 5.67125765e-01 -5.85362144e-01 -4.38312437e+01] [-7.24829982e-01 -3.01338596e-02 6.88268441e-01 6.42412729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15420609899996 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:42.89, Y:-43.86, Z:64.25 [[ 3.82490225e-01 8.20558952e-01 4.24716651e-01 4.28903032e+01] [-5.73217537e-01 5.71253833e-01 -5.87444221e-01 -4.38571093e+01] [-7.24653630e-01 -1.87633606e-02 6.88857789e-01 6.42549696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18420609899997 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:42.91, Y:-43.88, Z:64.27 [[ 3.77132544e-01 8.22673082e-01 4.25417495e-01 4.29099690e+01] [-5.78956127e-01 5.67935153e-01 -5.85029457e-01 -4.38787938e+01] [-7.22897536e-01 -2.56644174e-02 6.90478450e-01 6.42675747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21420609899997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:42.93, Y:-43.90, Z:64.28 [[ 3.79674031e-01 8.22326504e-01 4.23823962e-01 4.29268645e+01] [-5.80800365e-01 5.68469559e-01 -5.82677695e-01 -4.39026623e+01] [-7.20082333e-01 -2.49295230e-02 6.93440663e-01 6.42801942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.24420609899997 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:42.94, Y:-43.93, Z:64.29 [[ 3.84052947e-01 8.21761102e-01 4.20965588e-01 4.29421836e+01] [-5.78118399e-01 5.69516708e-01 -5.84319977e-01 -4.39270565e+01] [-7.19918364e-01 -1.89581428e-02 6.93799783e-01 6.42947624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.27420609899997 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:42.96, Y:-43.95, Z:64.31 [[ 3.78059652e-01 8.23962696e-01 4.22085744e-01 4.29621967e+01] [-5.83837304e-01 5.66029104e-01 -5.82018090e-01 -4.39476937e+01] [-7.18474010e-01 -2.63918463e-02 6.95052924e-01 6.43089274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.30420609899997 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:42.98, Y:-43.97, Z:64.33 [[ 3.79238656e-01 8.23715944e-01 4.21509294e-01 4.29779645e+01] [-5.81868960e-01 5.66496008e-01 -5.83533021e-01 -4.39690658e+01] [-7.19448785e-01 -2.39648959e-02 6.94131925e-01 6.43261567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.33420609899997 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:42.99, Y:-43.99, Z:64.34 [[ 3.89735636e-01 8.20523557e-01 4.18147374e-01 4.29902345e+01] [-5.77660927e-01 5.71432051e-01 -5.82900733e-01 -4.39931524e+01] [-7.17226594e-01 -1.43702115e-02 6.96691832e-01 6.43396159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36420609899997 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:43.01, Y:-44.02, Z:64.35 [[ 3.86535093e-01 8.22373025e-01 4.17484407e-01 4.30078158e+01] [-5.81794419e-01 5.68660057e-01 -5.81498919e-01 -4.40151485e+01] [-7.15615732e-01 -1.81203598e-02 6.98259104e-01 6.43531788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.39420609899997 meters Centerline goodness : 0.999797 Centerline is valid? [True, True] Translation: X:43.02, Y:-44.04, Z:64.37 [[ 3.98427993e-01 8.17710553e-01 4.15457081e-01 4.30171682e+01] [-5.69058704e-01 5.75624382e-01 -5.87221221e-01 -4.40412564e+01] [-7.19324215e-01 -2.45409533e-03 6.94670175e-01 6.43695768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42420609899997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:43.03, Y:-44.06, Z:64.38 [[ 4.00850797e-01 8.17777245e-01 4.12987912e-01 4.30345079e+01] [-5.77015038e-01 5.75503615e-01 -5.79525008e-01 -4.40632561e+01] [-7.11598401e-01 -5.99717493e-03 7.02560851e-01 6.43772849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.45420609899998 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:43.05, Y:-44.08, Z:64.39 [[ 3.95966695e-01 8.19370910e-01 4.14537922e-01 4.30534354e+01] [-5.79993390e-01 5.73154083e-01 -5.78880009e-01 -4.40839427e+01] [-7.11911542e-01 -1.12120506e-02 7.02179640e-01 6.43932583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48420609899998 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:43.06, Y:-44.11, Z:64.41 [[ 4.11987726e-01 8.13774767e-01 4.09922849e-01 4.30614058e+01] [-5.64002215e-01 5.81085074e-01 -5.86721090e-01 -4.41114750e+01] [-7.15658868e-01 1.05244926e-02 6.98370690e-01 6.44076741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51420609899998 meters Centerline goodness : 0.999967 Centerline is valid? [True, True] Translation: X:43.08, Y:-44.13, Z:64.42 [[ 4.01259568e-01 8.18400998e-01 4.11352120e-01 4.30837689e+01] [-5.74100321e-01 5.74643646e-01 -5.83261092e-01 -4.41316125e+01] [-7.13722341e-01 -2.11829058e-03 7.00425537e-01 6.44208517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54420609899998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:43.10, Y:-44.15, Z:64.43 [[ 3.99795596e-01 8.18840272e-01 4.11903011e-01 4.31022825e+01] [-5.78408236e-01 5.73984526e-01 -5.79642715e-01 -4.41544521e+01] [-7.11060753e-01 -6.50948979e-03 7.03100442e-01 6.44348709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57420609899998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:43.11, Y:-44.18, Z:64.45 [[ 4.19529487e-01 8.12614186e-01 4.04540719e-01 4.31109775e+01] [-5.71047976e-01 5.82686889e-01 -5.78256171e-01 -4.41832926e+01] [-7.05619740e-01 1.15833559e-02 7.08496018e-01 6.44452136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60420609899998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:43.14, Y:-44.20, Z:64.46 [[ 4.00822772e-01 8.19300429e-01 4.09985259e-01 4.31362397e+01] [-5.86044854e-01 5.73263839e-01 -5.72642995e-01 -4.41995581e+01] [-7.04196375e-01 -1.07413984e-02 7.09924002e-01 6.44582799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63420609899998 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:43.15, Y:-44.22, Z:64.47 [[ 4.04484611e-01 8.18457631e-01 4.08067772e-01 4.31522406e+01] [-5.86647938e-01 5.74503707e-01 -5.70779894e-01 -4.42238619e+01] [-7.01595607e-01 -8.52043354e-03 7.12524390e-01 6.44730762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66420609899998 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:43.17, Y:-44.25, Z:64.49 [[ 4.05727597e-01 8.17510375e-01 4.08732068e-01 4.31653861e+01] [-5.85168610e-01 5.75864559e-01 -5.70927059e-01 -4.42467028e+01] [-7.02113106e-01 -7.53631217e-03 7.12025554e-01 6.44900091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69420609899998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:43.17, Y:-44.28, Z:64.50 [[ 4.25503477e-01 8.11000369e-01 4.01528569e-01 4.31730572e+01] [-5.71904110e-01 5.84850187e-01 -5.75218174e-01 -4.42754301e+01] [-7.01336210e-01 1.51214945e-02 7.12670233e-01 6.45034518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72420609899999 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:43.20, Y:-44.29, Z:64.52 [[ 4.06636139e-01 8.18587173e-01 4.05662533e-01 4.31983912e+01] [-5.86088102e-01 5.74357296e-01 -5.71501910e-01 -4.42937943e+01] [-7.00819369e-01 -5.36065354e-03 7.13318636e-01 6.45184534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.754206099 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:43.22, Y:-44.31, Z:64.53 [[ 3.98894701e-01 8.21196802e-01 4.08067187e-01 4.32185321e+01] [-5.92842931e-01 5.70443425e-01 -5.68446619e-01 -4.43139190e+01] [-6.99585789e-01 -1.51694029e-02 7.14387579e-01 6.45337013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78420609899996 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:43.24, Y:-44.33, Z:64.55 [[ 3.79563636e-01 8.26828065e-01 4.15074449e-01 4.32433848e+01] [-6.07613504e-01 5.61111357e-01 -5.62103081e-01 -4.43311440e+01] [-6.97665590e-01 -3.88509513e-02 7.15369364e-01 6.45482979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81420609899996 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:43.25, Y:-44.36, Z:64.56 [[ 4.02629550e-01 8.19315753e-01 4.08180281e-01 4.32482037e+01] [-5.89608370e-01 5.73225899e-01 -5.69011458e-01 -4.43598936e+01] [-7.00179560e-01 -1.15656827e-02 7.13873111e-01 6.45641903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84420609899996 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:43.25, Y:-44.39, Z:64.57 [[ 4.39262273e-01 8.06969735e-01 3.94776523e-01 4.32517913e+01] [-5.70245465e-01 5.90022403e-01 -5.71571232e-01 -4.43948225e+01] [-6.94167678e-01 2.59501563e-02 7.19345414e-01 6.45746142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87420609899996 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:43.29, Y:-44.40, Z:64.59 [[ 3.90132488e-01 8.23852560e-01 4.11173443e-01 4.32863928e+01] [-5.97694483e-01 5.66281082e-01 -5.67527128e-01 -4.44025866e+01] [-7.00398419e-01 -2.43453280e-02 7.13336778e-01 6.45944052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90420609899996 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:43.31, Y:-44.42, Z:64.61 [[ 3.75478112e-01 8.29138056e-01 4.14181447e-01 4.33097191e+01] [-6.10092289e-01 5.57516508e-01 -5.62994443e-01 -4.44204390e+01] [-6.97713112e-01 -4.12968164e-02 7.15185980e-01 6.46095215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93420609899997 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:43.32, Y:-44.45, Z:64.62 [[ 3.98287760e-01 8.21889457e-01 4.07264755e-01 4.33166815e+01] [-5.96056863e-01 5.69385300e-01 -5.66141851e-01 -4.44501574e+01] [-6.97196584e-01 -1.72655828e-02 7.16672047e-01 6.46227694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96420609899997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:43.33, Y:-44.47, Z:64.64 [[ 3.96515038e-01 8.23433868e-01 4.05872504e-01 4.33341104e+01] [-5.97525411e-01 5.67134443e-01 -5.66852633e-01 -4.44733123e+01] [-6.96949932e-01 -1.77535415e-02 7.16899995e-01 6.46380337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.99420609899997 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:43.34, Y:-44.50, Z:64.65 [[ 4.19235564e-01 8.16728357e-01 3.96479928e-01 4.33418954e+01] [-5.84770438e-01 5.76977389e-01 -5.70211037e-01 -4.45025013e+01] [-6.94467477e-01 7.20300411e-03 7.19488040e-01 6.46510327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.02420609899997 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:43.37, Y:-44.51, Z:64.67 [[ 3.86297935e-01 8.28336734e-01 4.05748888e-01 4.33717384e+01] [-6.07190501e-01 5.59508437e-01 -5.64154238e-01 -4.45142948e+01] [-6.94329605e-01 -2.84352532e-02 7.19095151e-01 6.46672572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.05420609899997 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:43.39, Y:-44.54, Z:64.69 [[ 3.88683170e-01 8.27168703e-01 4.05853829e-01 4.33850250e+01] [-6.00634900e-01 5.61501322e-01 -5.69169555e-01 -4.45365846e+01] [-6.98686704e-01 -2.25433468e-02 7.15072505e-01 6.46859755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.08420609899997 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:43.40, Y:-44.56, Z:64.70 [[ 3.89742023e-01 8.27467954e-01 4.04225111e-01 4.34005337e+01] [-5.97757574e-01 5.61207784e-01 -5.72478564e-01 -4.45603769e+01] [-7.00561945e-01 -1.85096682e-02 7.13351494e-01 6.47028249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.11420609899997 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:43.41, Y:-44.59, Z:64.71 [[ 4.03250250e-01 8.25449802e-01 3.94996026e-01 4.34135035e+01] [-5.97681740e-01 5.64438312e-01 -5.69373278e-01 -4.45891642e+01] [-6.92939949e-01 -6.48199555e-03 7.20966164e-01 6.47129832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.44, Y:-44.60, Z:64.73 [[ 3.82205795e-01 8.30746549e-01 4.04696061e-01 4.34369411e+01] [-6.12669899e-01 5.55663760e-01 -5.62026139e-01 -4.46048077e+01] [-6.91776210e-01 -3.31354476e-02 7.21351314e-01 6.47328776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.17420609899997 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:43.45, Y:-44.63, Z:64.75 [[ 4.08587414e-01 8.22368904e-01 3.95936498e-01 4.34457846e+01] [-6.09265412e-01 5.68744550e-01 -5.52562480e-01 -4.46330205e+01] [-6.79596926e-01 -1.54603387e-02 7.33422795e-01 6.47454909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20420609899998 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:43.45, Y:-44.66, Z:64.77 [[ 4.22794916e-01 8.16679388e-01 3.92783956e-01 4.34528636e+01] [-5.86702055e-01 5.77008754e-01 -5.68191513e-01 -4.46607646e+01] [-6.90670079e-01 9.78132876e-03 7.23103843e-01 6.47661889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.23420609899998 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:43.48, Y:-44.68, Z:64.78 [[ 3.99768254e-01 8.25186305e-01 3.99065038e-01 4.34798042e+01] [-6.08206615e-01 5.64519480e-01 -5.58034470e-01 -4.46769971e+01] [-6.85762390e-01 -1.96295299e-02 7.27560737e-01 6.47762564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26420609899998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:43.48, Y:-44.71, Z:64.80 [[ 4.25856381e-01 8.14068200e-01 3.94891514e-01 4.34804381e+01] [-5.75452272e-01 5.80487362e-01 -5.76098173e-01 -4.47063747e+01] [-6.98212736e-01 1.80938643e-02 7.15661643e-01 6.47956218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29420609899998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:43.50, Y:-44.72, Z:64.81 [[ 4.21468460e-01 8.15745557e-01 3.96135740e-01 4.34958153e+01] [-5.78839382e-01 5.78264360e-01 -5.74939388e-01 -4.47248306e+01] [-6.98075431e-01 1.30198514e-02 7.15905843e-01 6.48088863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32420609899998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:43.52, Y:-44.74, Z:64.82 [[ 4.05941220e-01 8.22473078e-01 3.98434136e-01 4.35194397e+01] [-6.03587776e-01 5.68640857e-01 -5.58864359e-01 -4.47399248e+01] [-6.86216818e-01 -1.36238945e-02 7.27269460e-01 6.48170645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35420609899998 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:43.53, Y:-44.77, Z:64.83 [[ 4.22973065e-01 8.16466484e-01 3.93034688e-01 4.35273923e+01] [-5.89757169e-01 5.77349840e-01 -5.64671270e-01 -4.47667335e+01] [-6.87953681e-01 7.04571303e-03 7.25720394e-01 6.48334775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38420609899998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:43.55, Y:-44.78, Z:64.85 [[ 4.05701005e-01 8.22501522e-01 3.98620046e-01 4.35495067e+01] [-6.00318975e-01 5.68653633e-01 -5.62361249e-01 -4.47840373e+01] [-6.89219720e-01 -1.11486537e-02 7.24466621e-01 6.48505113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41420609899998 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:43.55, Y:-44.82, Z:64.86 [[ 4.35202730e-01 8.12753929e-01 3.87336591e-01 4.35545707e+01] [-5.82454710e-01 5.82219058e-01 -5.67245520e-01 -4.48169183e+01] [-6.86545770e-01 2.12607772e-02 7.26775677e-01 6.48631711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44420609899998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:43.58, Y:-44.83, Z:64.88 [[ 4.17619359e-01 8.20162543e-01 3.91059424e-01 4.35775081e+01] [-5.92263959e-01 5.72105680e-01 -5.67378616e-01 -4.48338398e+01] [-6.89070006e-01 5.33789150e-03 7.24675122e-01 6.48807797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47420609899999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:43.59, Y:-44.85, Z:64.90 [[ 4.15019504e-01 8.21060016e-01 3.91942931e-01 4.35942834e+01] [-5.96097888e-01 5.70841454e-01 -5.64630271e-01 -4.48547021e+01] [-6.87332611e-01 6.96221681e-04 7.26342479e-01 6.48967323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.504206099 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:43.61, Y:-44.88, Z:64.92 [[ 4.11589747e-01 8.21908622e-01 3.93776709e-01 4.36083349e+01] [-5.88469075e-01 5.69601988e-01 -5.73809832e-01 -4.48758344e+01] [-6.95915245e-01 4.44882755e-03 7.18110145e-01 6.49180747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53420609899996 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:43.61, Y:-44.90, Z:64.93 [[ 4.35396057e-01 8.13640088e-01 3.85253268e-01 4.36121979e+01] [-5.75933403e-01 5.80661819e-01 -5.75441194e-01 -4.49044058e+01] [-6.91903887e-01 2.86646015e-02 7.21420371e-01 6.49305546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56420609899996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:43.63, Y:-44.93, Z:64.95 [[ 4.38643214e-01 8.12019680e-01 3.84988532e-01 4.36275585e+01] [-5.72731695e-01 5.82729885e-01 -5.76545130e-01 -4.49291566e+01] [-6.92510315e-01 3.24024739e-02 7.20679917e-01 6.49458499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59420609899996 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:43.65, Y:-44.94, Z:64.96 [[ 4.14947341e-01 8.20819595e-01 3.92522478e-01 4.36535685e+01] [-5.89727365e-01 5.71161647e-01 -5.70960601e-01 -4.49444527e+01] [-6.92849435e-01 5.43733693e-03 7.21061784e-01 6.49615199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62420609899996 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:43.67, Y:-44.97, Z:64.98 [[ 4.13712032e-01 8.21648619e-01 3.92091700e-01 4.36702555e+01] [-5.90874038e-01 5.69976290e-01 -5.70959632e-01 -4.49674358e+01] [-6.92611165e-01 4.53606300e-03 7.21296886e-01 6.49774119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65420609899996 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:43.67, Y:-45.00, Z:64.99 [[ 4.59476583e-01 8.03876154e-01 3.77709410e-01 4.36661119e+01] [-5.59861903e-01 5.92268507e-01 -5.79458942e-01 -4.50041116e+01] [-6.89518614e-01 5.47827053e-02 7.22193143e-01 6.49853996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68420609899997 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:43.70, Y:-45.01, Z:65.01 [[ 4.03838891e-01 8.24100878e-01 3.97205103e-01 4.37039118e+01] [-5.90468654e-01 5.66438082e-01 -5.74886657e-01 -4.50070386e+01] [-6.98756695e-01 -2.37557276e-03 7.15355462e-01 6.50075435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71420609899997 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:43.71, Y:-45.04, Z:65.02 [[ 4.33144227e-01 8.13397884e-01 3.88291077e-01 4.37065231e+01] [-5.71042678e-01 5.80959669e-01 -5.79996658e-01 -4.50382314e+01] [-6.97349510e-01 2.94914275e-02 7.16124233e-01 6.50227196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.74420609899997 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:43.74, Y:-45.06, Z:65.02 [[ 3.82821433e-01 8.33276265e-01 3.98871429e-01 4.37403718e+01] [-6.10135902e-01 5.52250767e-01 -5.68113783e-01 -4.50596184e+01] [-6.93672784e-01 -2.58796469e-02 7.19825196e-01 6.50184154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.77420609899997 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:43.74, Y:-45.10, Z:65.04 [[ 4.03812457e-01 8.30131322e-01 3.84470398e-01 4.37399157e+01] [-5.88195830e-01 5.57470157e-01 -5.85877709e-01 -4.50952225e+01] [-7.00686210e-01 1.04408325e-02 7.13393176e-01 6.50367762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.80420609899997 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:43.77, Y:-45.11, Z:65.05 [[ 3.79687340e-01 8.38966647e-01 3.89836489e-01 4.37661158e+01] [-6.05423279e-01 5.43964431e-01 -5.81003745e-01 -4.51114545e+01] [-6.99499948e-01 -1.54163190e-02 7.14466346e-01 6.50521063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.83420609899997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:43.79, Y:-45.13, Z:65.07 [[ 3.70795472e-01 8.41591277e-01 3.92727437e-01 4.37861067e+01] [-6.13768235e-01 5.39424850e-01 -5.76462822e-01 -4.51307500e+01] [-6.96993021e-01 -2.72938221e-02 7.16558285e-01 6.50667989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86420609899997 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:43.81, Y:-45.15, Z:65.09 [[ 3.61184141e-01 8.45309079e-01 3.93698588e-01 4.38054441e+01] [-6.19964363e-01 5.33054943e-01 -5.75757429e-01 -4.51486988e+01] [-6.96555960e-01 -3.61246415e-02 7.16592496e-01 6.50863145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.89420609899997 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:43.82, Y:-45.17, Z:65.10 [[ 3.65032642e-01 8.44613709e-01 3.91636122e-01 4.38197360e+01] [-6.18342635e-01 5.34429542e-01 -5.76226909e-01 -4.51728590e+01] [-6.95991060e-01 -3.18236804e-02 7.17344894e-01 6.51019695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92420609899997 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:43.82, Y:-45.20, Z:65.12 [[ 3.92156960e-01 8.37357377e-01 3.80848449e-01 4.38231990e+01] [-6.01098155e-01 5.46655764e-01 -5.82965251e-01 -4.52038738e+01] [-6.96343254e-01 -3.13419822e-04 7.17708837e-01 6.51165082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.95420609899998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:43.84, Y:-45.22, Z:65.13 [[ 3.80395363e-01 8.41525095e-01 3.83581650e-01 4.38436543e+01] [-6.12313132e-01 5.40003967e-01 -5.77467179e-01 -4.52229373e+01] [-6.93088736e-01 -1.52062445e-02 7.20691872e-01 6.51294486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98420609899998 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:43.86, Y:-45.24, Z:65.15 [[ 3.74758687e-01 8.43423873e-01 3.84957265e-01 4.38611333e+01] [-6.15373563e-01 5.36853617e-01 -5.77151256e-01 -4.52432299e+01] [-6.93448848e-01 -2.06000767e-02 7.20211311e-01 6.51461291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01420609899998 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:43.87, Y:-45.27, Z:65.16 [[ 3.92303580e-01 8.38433745e-01 3.78320970e-01 4.38705323e+01] [-6.09349893e-01 5.44984174e-01 -5.75920965e-01 -4.52712724e+01] [-6.89050513e-01 -4.59398609e-03 7.24698755e-01 6.51604910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04420609899998 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:43.89, Y:-45.29, Z:65.17 [[ 3.94382505e-01 8.39080025e-01 3.74709423e-01 4.38860873e+01] [-6.13304535e-01 5.43993538e-01 -5.72650485e-01 -4.52942431e+01] [-6.84339088e-01 -3.96765569e-03 7.29153118e-01 6.51735210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07420609899998 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:43.91, Y:-45.31, Z:65.19 [[ 3.72194689e-01 8.47928991e-01 3.77475217e-01 4.39094917e+01] [-6.27761275e-01 5.29537994e-01 -5.70530712e-01 -4.53107228e+01] [-6.83657001e-01 -2.46158229e-02 7.29388214e-01 6.51900077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10420609899998 meters Centerline goodness : 0.999774 Centerline is valid? [True, True] Translation: X:43.92, Y:-45.33, Z:65.21 [[ 3.73069004e-01 8.48136028e-01 3.76144647e-01 4.39249565e+01] [-6.28640501e-01 5.29240460e-01 -5.69838272e-01 -4.53341010e+01] [-6.82371335e-01 -2.38707626e-02 7.30615869e-01 6.52053969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13420609899998 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:43.97, Y:-45.33, Z:65.23 [[ 0.2966492 0.86956928 0.39477655 43.96905481] [ -0.66790479 0.48437929 -0.56504857 -45.33141125] [ -0.68257046 -0.09605194 0.72448022 65.22666595] [ 0. 0. 0. 1. ]] SLAMing on 157.16420609899998 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:43.98, Y:-45.35, Z:65.25 [[ 0.30883794 0.86686097 0.3913709 43.97685418] [ -0.65320971 0.49240965 -0.57519545 -45.35413546] [ -0.6913293 -0.0780051 0.71831679 65.24740612] [ 0. 0. 0. 1. ]] SLAMing on 157.19420609899998 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:43.97, Y:-45.40, Z:65.26 [[ 3.78371904e-01 8.49121668e-01 3.68547277e-01 4.39662289e+01] [-6.25864798e-01 5.28025441e-01 -5.74005565e-01 -4.53962494e+01] [-6.82002901e-01 -1.34731885e-02 7.31225353e-01 6.52572192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22420609899999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:43.99, Y:-45.41, Z:65.27 [[ 3.57949563e-01 8.56111469e-01 3.72753623e-01 4.39908293e+01] [-6.39802869e-01 5.15638437e-01 -5.69885332e-01 -4.54135870e+01] [-6.80091464e-01 -3.44986322e-02 7.32315126e-01 6.52726679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.254206099 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:44.03, Y:-45.42, Z:65.29 [[ 0.29701482 0.87123496 0.39080921 44.03047976] [ -0.67154604 0.48154942 -0.56314835 -45.41795263] [ -0.67882848 -0.09518297 0.72810171 65.28926368] [ 0. 0. 0. 1. ]] SLAMing on 157.28420609899996 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:44.03, Y:-45.45, Z:65.31 [[ 3.34387664e-01 8.62965016e-01 3.78782618e-01 4.40320286e+01] [-6.49221144e-01 5.02269914e-01 -5.71171462e-01 -4.54512633e+01] [-6.83152103e-01 -5.49209940e-02 7.28207998e-01 6.53066168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31420609899996 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:44.05, Y:-45.47, Z:65.32 [[ 0.32343118 0.86637476 0.38050893 44.0527385 ] [ -0.65641092 0.49505935 -0.56924594 -45.47218611] [ -0.68155482 -0.06565833 0.72881549 65.32298889] [ 0. 0. 0. 1. ]] SLAMing on 157.34420609899996 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:44.05, Y:-45.50, Z:65.34 [[ 3.65580417e-01 8.55640342e-01 3.66374895e-01 4.40523726e+01] [-6.37805850e-01 5.16968682e-01 -5.70917753e-01 -4.55047970e+01] [-6.77904608e-01 -2.49597013e-02 7.34726042e-01 6.53378158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37420609899996 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:44.08, Y:-45.52, Z:65.36 [[ 3.31791031e-01 8.65360625e-01 3.75587141e-01 4.40823919e+01] [-6.56587326e-01 4.97714999e-01 -5.66721151e-01 -4.55166952e+01] [-6.77353523e-01 -5.85727618e-02 7.33322191e-01 6.53560962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40420609899996 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:44.10, Y:-45.54, Z:65.37 [[ 3.36620106e-01 8.64575688e-01 3.73089513e-01 4.40958198e+01] [-6.54797784e-01 4.99656496e-01 -5.67083105e-01 -4.55410332e+01] [-6.76702864e-01 -5.34066112e-02 7.34316667e-01 6.53723114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43420609899997 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:44.11, Y:-45.56, Z:65.39 [[ 3.33931258e-01 8.66102576e-01 3.71962690e-01 4.41129537e+01] [-6.54951282e-01 4.96991891e-01 -5.69243251e-01 -4.55640410e+01] [-6.77885487e-01 -5.35293254e-02 7.33216120e-01 6.53903365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46420609899997 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:44.12, Y:-45.59, Z:65.41 [[ 3.58180126e-01 8.58670642e-01 3.66594771e-01 4.41176969e+01] [-6.37886743e-01 5.11777709e-01 -5.75485950e-01 -4.55919887e+01] [-6.81767922e-01 -2.77183140e-02 7.31043224e-01 6.54090828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.49420609899997 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:44.14, Y:-45.61, Z:65.42 [[ 3.40177579e-01 8.64905593e-01 3.69076590e-01 4.41431714e+01] [-6.56646860e-01 4.99427587e-01 -5.65143333e-01 -4.56114401e+01] [-6.73122660e-01 -5.01038936e-02 7.37831610e-01 6.54206095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.52420609899997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:44.15, Y:-45.64, Z:65.44 [[ 3.56161601e-01 8.60893325e-01 3.63334001e-01 4.41516889e+01] [-6.50226778e-01 5.07586268e-01 -5.65297548e-01 -4.56381739e+01] [-6.71084235e-01 -3.49122169e-02 7.40558631e-01 6.54373422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.55420609899997 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:44.16, Y:-45.66, Z:65.46 [[ 3.71227462e-01 8.56133657e-01 3.59479252e-01 4.41586935e+01] [-6.35915390e-01 5.16515140e-01 -5.73431536e-01 -4.56639504e+01] [-6.76610515e-01 -1.57248554e-02 7.36173173e-01 6.54571019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.58420609899997 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:44.18, Y:-45.68, Z:65.47 [[ 3.44765444e-01 8.66159537e-01 3.61807193e-01 4.41848143e+01] [-6.58968719e-01 4.97824946e-01 -5.63853306e-01 -4.56796646e+01] [-6.68503565e-01 -4.40224863e-02 7.42404879e-01 6.54721046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.61420609899997 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:44.20, Y:-45.71, Z:65.49 [[ 3.45395931e-01 8.68924555e-01 3.54502142e-01 4.42001453e+01] [-6.64874510e-01 4.93165314e-01 -5.61007895e-01 -4.57051626e+01] [-6.62301696e-01 -4.19295941e-02 7.48063081e-01 6.54874728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64420609899997 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:44.22, Y:-45.72, Z:65.51 [[ 3.21386161e-01 8.74551577e-01 3.63139745e-01 4.42224277e+01] [-6.75377015e-01 4.80494738e-01 -5.59455713e-01 -4.57210348e+01] [-6.63759613e-01 -6.54549128e-02 7.45076393e-01 6.55074419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.67420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.21, Y:-45.76, Z:65.52 [[ 3.92590421e-01 8.55529135e-01 3.37553937e-01 4.42099808e+01] [-6.40617395e-01 5.17715269e-01 -5.67080465e-01 -4.57644445e+01] [-6.59910687e-01 6.38743452e-03 7.51316901e-01 6.55189781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70420609899998 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:44.22, Y:-45.79, Z:65.53 [[ 3.96264945e-01 8.55364481e-01 3.33655059e-01 4.42241615e+01] [-6.45403512e-01 5.17977780e-01 -5.61385186e-01 -4.57856879e+01] [-6.53014854e-01 7.11512349e-03 7.57311676e-01 6.55325625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73420609899998 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:44.25, Y:-45.80, Z:65.55 [[ 3.79547891e-01 8.61336951e-01 3.37701132e-01 4.42467022e+01] [-6.57666371e-01 5.07916236e-01 -5.56323685e-01 -4.58049097e+01] [-6.50706035e-01 -1.09431972e-02 7.59250883e-01 6.55486509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76420609899998 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:44.31, Y:-45.80, Z:65.56 [[ 0.27158593 0.88732488 0.37268704 44.30740977] [ -0.7241311 0.44347477 -0.5281707 -45.80239681] [ -0.6339363 -0.12643055 0.76298105 65.55863124] [ 0. 0. 0. 1. ]] SLAMing on 157.79420609899998 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:44.30, Y:-45.84, Z:65.58 [[ 0.32588298 0.87628152 0.35486754 44.29890236] [ -0.69564041 0.47644297 -0.53766766 -45.83730405] [ -0.64022238 -0.07164347 0.7648415 65.57804355] [ 0. 0. 0. 1. ]] SLAMing on 157.82420609899998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:44.31, Y:-45.86, Z:65.60 [[ 3.43610369e-01 8.72750164e-01 3.46755051e-01 4.43068466e+01] [-6.88409640e-01 4.85230562e-01 -5.39113595e-01 -4.58637505e+01] [-6.38767627e-01 -5.34644983e-02 7.67539879e-01 6.55966430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85420609899998 meters Centerline goodness : 0.999898 Centerline is valid? [True, True] Translation: X:44.32, Y:-45.89, Z:65.62 [[ 3.46905171e-01 8.72934576e-01 3.42989837e-01 4.43177585e+01] [-6.76236252e-01 4.86199161e-01 -5.53457232e-01 -4.58888818e+01] [-6.49893325e-01 -3.99449862e-02 7.58975009e-01 6.56198955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88420609899998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:44.32, Y:-45.92, Z:65.63 [[ 3.75672358e-01 8.66355146e-01 3.29088196e-01 4.43205149e+01] [-6.75688009e-01 4.99084197e-01 -5.42550163e-01 -4.59227858e+01] [-6.34283843e-01 -1.85398488e-02 7.72877921e-01 6.56279866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91420609899998 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:44.37, Y:-45.92, Z:65.65 [[ 0.28444251 0.88979891 0.35686181 44.3704633 ] [ -0.71000988 0.44564317 -0.54524135 -45.91743431] [ -0.64418819 -0.09828559 0.75852588 65.65483669] [ 0. 0. 0. 1. ]] SLAMing on 157.94420609899998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.35, Y:-45.97, Z:65.67 [[ 3.83258175e-01 8.65549349e-01 3.22393387e-01 4.43465625e+01] [-6.72550993e-01 5.00759922e-01 -5.44898764e-01 -4.59673165e+01] [-6.33078458e-01 -7.98908678e-03 7.74046407e-01 6.56657020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97420609899999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:44.41, Y:-45.96, Z:65.68 [[ 0.27622354 0.89215409 0.3574376 44.40550197] [ -0.7242236 0.43770755 -0.53283419 -45.96363468] [ -0.63182334 -0.1116834 0.76702418 65.68016166] [ 0. 0. 0. 1. ]] SLAMing on 158.004206099 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:44.39, Y:-46.00, Z:65.71 [[ 3.44749813e-01 8.73096649e-01 3.44746005e-01 4.43866742e+01] [-6.69555990e-01 4.86124352e-01 -5.61585158e-01 -4.60014752e+01] [-6.57907548e-01 -3.72203747e-02 7.52178371e-01 6.57107778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03420609899996 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:44.41, Y:-46.03, Z:65.72 [[ 3.44514312e-01 8.74609310e-01 3.41128194e-01 4.44054970e+01] [-6.77461746e-01 4.83172918e-01 -5.54607532e-01 -4.60263760e+01] [-6.49888815e-01 -4.00310696e-02 7.58974335e-01 6.57238685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06420609899996 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:44.45, Y:-46.04, Z:65.73 [[ 0.28222298 0.90477484 0.3189556 44.44522628] [ -0.74661023 0.41592257 -0.51921246 -46.03677721] [ -0.6024312 -0.09160182 0.79289706 65.73426876] [ 0. 0. 0. 1. ]] SLAMing on 158.09420609899996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.50, Y:-46.04, Z:65.75 [[ 0.16097455 0.94342192 0.28990047 44.49733711] [ -0.82152664 0.29086811 -0.49039751 -46.0377446 ] [ -0.54697457 -0.15921944 0.8218686 65.7522378 ] [ 0. 0. 0. 1. ]] SLAMing on 158.12420609899996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.54, Y:-46.04, Z:65.76 [[ 0.07262747 0.9586668 0.27510583 44.54062781] [ -0.86742352 0.19685168 -0.45697468 -46.04471305] [ -0.49224149 -0.20544435 0.84586697 65.76477244] [ 0. 0. 0. 1. ]] SLAMing on 158.15420609899996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.59, Y:-46.05, Z:65.78 [[-5.94046159e-02 9.68029572e-01 2.43700308e-01 4.45881356e+01] [-9.16797671e-01 4.36727233e-02 -3.96956828e-01 -4.60468869e+01] [-3.94909004e-01 -2.47004942e-01 8.84892896e-01 6.57830531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18420609899997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.65, Y:-46.04, Z:65.80 [[ -0.17604886 0.95251347 0.24844494 44.64577714] [ -0.93346999 -0.08142333 -0.34929072 -46.0447922 ] [ -0.3124749 -0.29340813 0.90347723 65.80021319] [ 0. 0. 0. 1. ]] Total time of SLAM: 4490.19 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%| | 0/4787 [00:00