+ python -m lidar_slam --no-model /working/61721308-a28a-4b5d-a02b-eba3020b5a7b Lidar SLAM 0.0.15 ===================================================== The recording path: /working/61721308-a28a-4b5d-a02b-eba3020b5a7b The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: True The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.005336195 Adjusted end_distance from 9.223372036854776e+18 to 177.335336195 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.005336195 meters Centerline goodness : 0.997154 Centerline is valid? [0, True] SLAMing on 0.035336195 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.14, Z:-0.02 [[ 0.99938387 -0.03509814 0. 0.02963772] [ 0.03509814 0.99938387 0. -0.14344455] [ 0. 0. 1. -0.01605015] [ 0. 0. 0. 1. ]] SLAMing on 0.065336195 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.14, Z:-0.01 [[ 0.99953672 -0.03043608 0. 0.06099446] [ 0.03043608 0.99953672 0. -0.14308119] [ 0. 0. 1. -0.0091252 ] [ 0. 0. 0. 1. ]] SLAMing on 0.095336195 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.14, Z:-0.00 [[ 0.99962683 -0.02731666 0. 0.09300156] [ 0.02731666 0.99962683 0. -0.1398714 ] [ 0. 0. 1. -0.00362465] [ 0. 0. 0. 1. ]] SLAMing on 0.12533619499999998 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.14, Z:-0.00 [[ 0.99970446 -0.02431026 0. 0.12640881] [ 0.02431026 0.99970446 0. -0.1361389 ] [ 0. 0. 1. -0.0014979 ] [ 0. 0. 0. 1. ]] SLAMing on 0.15533619499999998 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.13, Z:-0.01 [[ 0.99984234 -0.01775667 0. 0.15805186] [ 0.01775667 0.99984234 0. -0.13254231] [ 0. 0. 1. -0.00785315] [ 0. 0. 0. 1. ]] SLAMing on 0.18533619499999998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.13, Z:-0.01 [[ 0.99991089 -0.0133496 0. 0.19062403] [ 0.0133496 0.99991089 0. -0.13226924] [ 0. 0. 1. -0.00995837] [ 0. 0. 0. 1. ]] SLAMing on 0.21533619499999998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.13, Z:-0.01 [[ 0.99996537 -0.00832222 0. 0.22277971] [ 0.00832222 0.99996537 0. -0.13262359] [ 0. 0. 1. -0.01118619] [ 0. 0. 0. 1. ]] SLAMing on 0.24533619499999998 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.13, Z:-0.01 [[ 0.99999388 -0.00349983 0. 0.25494289] [ 0.00349983 0.99999388 0. -0.13291451] [ 0. 0. 1. -0.01205725] [ 0. 0. 0. 1. ]] SLAMing on 0.275336195 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.13, Z:-0.01 [[ 0.99998796 0.00490706 0. 0.28517028] [-0.00490706 0.99998796 0. -0.13011458] [ 0. 0. 1. -0.0111117 ] [ 0. 0. 0. 1. ]] SLAMing on 0.305336195 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.13, Z:-0.01 [[ 0.99996267 0.00864105 0. 0.31295544] [-0.00864105 0.99996267 0. -0.12504638] [ 0. 0. 1. -0.00719434] [ 0. 0. 0. 1. ]] SLAMing on 0.33533619499999995 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.12, Z:-0.00 [[ 0.99992773 0.01202218 0. 0.34115382] [-0.01202218 0.99992773 0. -0.11799715] [ 0. 0. 1. -0.00367101] [ 0. 0. 0. 1. ]] SLAMing on 0.365336195 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.12, Z:-0.01 [[ 0.99992782 0.01201452 0. 0.36949444] [-0.01201452 0.99992782 0. -0.11824068] [ 0. 0. 1. -0.00542525] [ 0. 0. 0. 1. ]] SLAMing on 0.395336195 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:0.40, Y:-0.12, Z:-0.01 [[ 0.99993719 0.01120787 0. 0.39743084] [-0.01120787 0.99993719 0. -0.11940638] [ 0. 0. 1. -0.00754449] [ 0. 0. 0. 1. ]] SLAMing on 0.425336195 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.12, Z:-0.01 [[ 0.99998439 0.0055882 0. 0.42509669] [-0.0055882 0.99998439 0. -0.1214858 ] [ 0. 0. 1. -0.01109771] [ 0. 0. 0. 1. ]] SLAMing on 0.45533619499999994 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.12, Z:-0.01 [[ 0.99999906 0.00137065 0. 0.45241282] [-0.00137065 0.99999906 0. -0.1202195 ] [ 0. 0. 1. -0.01035749] [ 0. 0. 0. 1. ]] SLAMing on 0.48533619499999997 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.11, Z:-0.01 [[ 0.99996993 -0.00775534 0. 0.48178482] [ 0.00775534 0.99996993 0. -0.11446522] [ 0. 0. 1. -0.00760599] [ 0. 0. 0. 1. ]] SLAMing on 0.515336195 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.11, Z:-0.01 [[ 0.99992611 -0.01215592 0. 0.51470549] [ 0.01215592 0.99992611 0. -0.11238152] [ 0. 0. 1. -0.00538121] [ 0. 0. 0. 1. ]] SLAMing on 0.5453361950000001 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.11, Z:-0.00 [[ 0.9998617 -0.01663099 0. 0.54633153] [ 0.01663099 0.9998617 0. -0.11080681] [ 0. 0. 1. -0.00334485] [ 0. 0. 0. 1. ]] SLAMing on 0.575336195 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.11, Z:-0.00 [[ 0.99979665 -0.02016566 0. 0.57795026] [ 0.02016566 0.99979665 0. -0.11110504] [ 0. 0. 1. -0.00333528] [ 0. 0. 0. 1. ]] SLAMing on 0.605336195 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.12, Z:-0.01 [[ 0.99969327 -0.02476636 0. 0.61133404] [ 0.02476636 0.99969327 0. -0.11714026] [ 0. 0. 1. -0.00765408] [ 0. 0. 0. 1. ]] SLAMing on 0.635336195 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.12, Z:-0.01 [[ 0.99966896 -0.02572861 0. 0.64394791] [ 0.02572861 0.99966896 0. -0.1191474 ] [ 0. 0. 1. -0.00855291] [ 0. 0. 0. 1. ]] SLAMing on 0.665336195 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.12, Z:-0.01 [[ 0.99966581 -0.02585091 0. 0.67584664] [ 0.02585091 0.99966581 0. -0.11768393] [ 0. 0. 1. -0.00830594] [ 0. 0. 0. 1. ]] SLAMing on 0.695336195 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.11, Z:-0.01 [[ 0.99967973 -0.02530698 0. 0.7076117 ] [ 0.02530698 0.99967973 0. -0.11333388] [ 0. 0. 1. -0.00775974] [ 0. 0. 0. 1. ]] SLAMing on 0.725336195 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.10, Z:-0.00 [[ 0.99973037 -0.02322032 0. 0.74100842] [ 0.02322032 0.99973037 0. -0.10295539] [ 0. 0. 1. -0.0030516 ] [ 0. 0. 0. 1. ]] SLAMing on 0.755336195 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.10, Z:-0.00 [[ 0.99977486 -0.02121858 0. 0.77366386] [ 0.02121858 0.99977486 0. -0.09982833] [ 0. 0. 1. -0.00160485] [ 0. 0. 0. 1. ]] SLAMing on 0.7853361950000001 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.10, Z:-0.01 [[ 0.99985292 -0.01715048 0. 0.80480988] [ 0.01715048 0.99985292 0. -0.10186509] [ 0. 0. 1. -0.00549049] [ 0. 0. 0. 1. ]] SLAMing on 0.815336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.10, Z:-0.01 [[ 0.99987969 -0.01551172 0. 0.83643225] [ 0.01551172 0.99987969 0. -0.10369187] [ 0. 0. 1. -0.00774583] [ 0. 0. 0. 1. ]] SLAMing on 0.845336195 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.10, Z:-0.01 [[ 0.99990693 -0.01364297 0. 0.86976206] [ 0.01364297 0.99990693 0. -0.10313122] [ 0. 0. 1. -0.01003511] [ 0. 0. 0. 1. ]] SLAMing on 0.875336195 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.10, Z:-0.01 [[ 0.99992642 -0.01213077 0. 0.90327444] [ 0.01213077 0.99992642 0. -0.09755082] [ 0. 0. 1. -0.00734643] [ 0. 0. 0. 1. ]] SLAMing on 0.905336195 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.09, Z:-0.00 [[ 0.99992308 -0.01240316 0. 0.93588209] [ 0.01240316 0.99992308 0. -0.09373486] [ 0. 0. 1. -0.00473445] [ 0. 0. 0. 1. ]] SLAMing on 0.935336195 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.09, Z:-0.00 [[ 0.99992394 -0.01233384 0. 0.96942553] [ 0.01233384 0.99992394 0. -0.09418647] [ 0. 0. 1. -0.00473445] [ 0. 0. 0. 1. ]] SLAMing on 0.965336195 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.09, Z:-0.00 [[ 0.9999081 -0.01355718 0. 1.00232888] [ 0.01355718 0.9999081 0. -0.09144031] [ 0. 0. 1. -0.00406972] [ 0. 0. 0. 1. ]] SLAMing on 0.995336195 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.09, Z:-0.00 [[ 0.99988227 -0.01534456 0. 1.03420622] [ 0.01534456 0.99988227 0. -0.09201522] [ 0. 0. 1. -0.00490545] [ 0. 0. 0. 1. ]] SLAMing on 1.025336195 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.10, Z:-0.01 [[ 0.99979272 -0.02035958 0. 1.0676249 ] [ 0.02035958 0.99979272 0. -0.09536855] [ 0. 0. 1. -0.00528907] [ 0. 0. 0. 1. ]] SLAMing on 1.055336195 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.10, Z:-0.00 [[ 0.99975401 -0.02217926 0. 1.10099872] [ 0.02217926 0.99975401 0. -0.09526395] [ 0. 0. 1. -0.00414223] [ 0. 0. 0. 1. ]] SLAMing on 1.085336195 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.09, Z:-0.01 [[ 0.99973536 -0.02300473 0. 1.13325079] [ 0.02300473 0.99973536 0. -0.09433986] [ 0. 0. 1. -0.00575939] [ 0. 0. 0. 1. ]] SLAMing on 1.1153361949999998 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.10, Z:-0.01 [[ 0.99975322 -0.02221502 0. 1.16579595] [ 0.02221502 0.99975322 0. -0.09513756] [ 0. 0. 1. -0.00807151] [ 0. 0. 0. 1. ]] SLAMing on 1.1453361949999998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.10, Z:-0.01 [[ 0.9997851 -0.02073041 0. 1.19851994] [ 0.02073041 0.9997851 0. -0.0959794 ] [ 0. 0. 1. -0.00951148] [ 0. 0. 0. 1. ]] SLAMing on 1.1753361949999999 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.10, Z:-0.01 [[ 0.9998156 -0.01920324 0. 1.23051085] [ 0.01920324 0.9998156 0. -0.09540086] [ 0. 0. 1. -0.00997589] [ 0. 0. 0. 1. ]] SLAMing on 1.2053361949999999 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.09, Z:-0.01 [[ 0.99987033 -0.01610376 0. 1.26293881] [ 0.01610376 0.99987033 0. -0.08806291] [ 0. 0. 1. -0.01258834] [ 0. 0. 0. 1. ]] SLAMing on 1.235336195 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.08, Z:-0.01 [[ 0.99987686 -0.0156926 0. 1.29488664] [ 0.0156926 0.99987686 0. -0.0835208 ] [ 0. 0. 1. -0.01301496] [ 0. 0. 0. 1. ]] SLAMing on 1.265336195 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.08, Z:-0.01 [[ 0.99987161 -0.01602378 0. 1.32654814] [ 0.01602378 0.99987161 0. -0.08185682] [ 0. 0. 1. -0.01446898] [ 0. 0. 0. 1. ]] SLAMing on 1.295336195 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.08, Z:-0.02 [[ 0.99985521 -0.01701671 0. 1.35775155] [ 0.01701671 0.99985521 0. -0.08476021] [ 0. 0. 1. -0.01591247] [ 0. 0. 0. 1. ]] SLAMing on 1.3253361949999998 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.09, Z:-0.01 [[ 0.99980258 -0.01986939 0. 1.38911593] [ 0.01986939 0.99980258 0. -0.09302988] [ 0. 0. 1. -0.01466278] [ 0. 0. 0. 1. ]] SLAMing on 1.3553361949999998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.09, Z:-0.01 [[ 0.99974873 -0.02241605 0. 1.42220959] [ 0.02241605 0.99974873 0. -0.09370704] [ 0. 0. 1. -0.01257487] [ 0. 0. 0. 1. ]] SLAMing on 1.3853361949999998 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.09, Z:-0.01 [[ 0.99966525 -0.02587265 0. 1.45478917] [ 0.02587265 0.99966525 0. -0.09294057] [ 0. 0. 1. -0.00872833] [ 0. 0. 0. 1. ]] SLAMing on 1.4153361949999999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.09, Z:0.00 [[ 9.99473805e-01 -3.24362894e-02 0.00000000e+00 1.48663430e+00] [ 3.24362894e-02 9.99473805e-01 0.00000000e+00 -9.19579572e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93678278e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4453361949999999 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.09, Z:0.00 [[ 9.99387246e-01 -3.50019056e-02 0.00000000e+00 1.51885406e+00] [ 3.50019056e-02 9.99387246e-01 0.00000000e+00 -9.46865490e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20245726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.475336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.10, Z:-0.00 [[ 0.99929286 -0.03760029 0. 1.55075557] [ 0.03760029 0.99929286 0. -0.09975117] [ 0. 0. 1. -0.00366898] [ 0. 0. 0. 1. ]] SLAMing on 1.505336195 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.11, Z:-0.01 [[ 0.99921245 -0.03967977 0. 1.58237194] [ 0.03967977 0.99921245 0. -0.10592591] [ 0. 0. 1. -0.00880083] [ 0. 0. 0. 1. ]] SLAMing on 1.535336195 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.11, Z:-0.01 [[ 0.99918485 -0.04036875 0. 1.61433525] [ 0.04036875 0.99918485 0. -0.11487301] [ 0. 0. 1. -0.01032464] [ 0. 0. 0. 1. ]] SLAMing on 1.565336195 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.12, Z:-0.01 [[ 0.99925533 -0.03858487 0. 1.64702058] [ 0.03858487 0.99925533 0. -0.11730017] [ 0. 0. 1. -0.00977789] [ 0. 0. 0. 1. ]] SLAMing on 1.5953361949999998 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.12, Z:-0.01 [[ 0.99935976 -0.03577801 0. 1.67944843] [ 0.03577801 0.99935976 0. -0.11889991] [ 0. 0. 1. -0.00988208] [ 0. 0. 0. 1. ]] SLAMing on 1.6253361949999998 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.12, Z:-0.01 [[ 0.99958912 -0.02866351 0. 1.71155945] [ 0.02866351 0.99958912 0. -0.11958155] [ 0. 0. 1. -0.00705536] [ 0. 0. 0. 1. ]] SLAMing on 1.6553361949999998 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.12, Z:-0.00 [[ 0.99971294 -0.02395897 0. 1.74449324] [ 0.02395897 0.99971294 0. -0.12022473] [ 0. 0. 1. -0.00476569] [ 0. 0. 0. 1. ]] SLAMing on 1.6853361949999999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.12, Z:-0.00 [[ 0.99981496 -0.01923675 0. 1.7777146 ] [ 0.01923675 0.99981496 0. -0.12075012] [ 0. 0. 1. -0.00473895] [ 0. 0. 0. 1. ]] SLAMing on 1.715336195 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.12, Z:-0.01 [[ 0.99989178 -0.01471168 0. 1.81030737] [ 0.01471168 0.99989178 0. -0.12110214] [ 0. 0. 1. -0.00589208] [ 0. 0. 0. 1. ]] SLAMing on 1.745336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.12, Z:-0.01 [[ 0.99998501 -0.00547495 0. 1.84230984] [ 0.00547495 0.99998501 0. -0.11797923] [ 0. 0. 1. -0.00520276] [ 0. 0. 0. 1. ]] SLAMing on 1.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.12, Z:-0.01 [[ 9.99998754e-01 -1.57868301e-03 0.00000000e+00 1.87463146e+00] [ 1.57868301e-03 9.99998754e-01 0.00000000e+00 -1.17678584e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30330397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8053361949999998 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.12, Z:-0.01 [[ 9.99998195e-01 1.89999293e-03 0.00000000e+00 1.90477233e+00] [-1.89999293e-03 9.99998195e-01 0.00000000e+00 -1.19263396e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.28120148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8353361949999998 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.12, Z:-0.02 [[ 0.99998628 0.00523757 0. 1.93323845] [-0.00523757 0.99998628 0. -0.12366392] [ 0. 0. 1. -0.01578088] [ 0. 0. 0. 1. ]] SLAMing on 1.8653361949999998 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.12, Z:-0.02 [[ 0.99998673 0.00515115 0. 1.96249781] [-0.00515115 0.99998673 0. -0.12259496] [ 0. 0. 1. -0.01508782] [ 0. 0. 0. 1. ]] SLAMing on 1.8953361949999998 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.12, Z:-0.01 [[ 0.99999335 0.00364752 0. 1.99071566] [-0.00364752 0.99999335 0. -0.11987542] [ 0. 0. 1. -0.01291512] [ 0. 0. 0. 1. ]] SLAMing on 1.9253361949999999 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.12, Z:-0.01 [[ 9.99999844e-01 5.59367173e-04 0.00000000e+00 2.01909829e+00] [-5.59367173e-04 9.99999844e-01 0.00000000e+00 -1.17940653e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15427118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9553361949999999 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.13, Z:-0.01 [[ 0.99997694 -0.00679115 0. 2.0489785 ] [ 0.00679115 0.99997694 0. -0.12527918] [ 0. 0. 1. -0.01438171] [ 0. 0. 0. 1. ]] SLAMing on 1.985336195 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.13, Z:-0.01 [[ 0.99993987 -0.01096619 0. 2.08098289] [ 0.01096619 0.99993987 0. -0.13059171] [ 0. 0. 1. -0.01092652] [ 0. 0. 0. 1. ]] SLAMing on 2.0153361949999997 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.13, Z:-0.01 [[ 0.99988059 -0.01545362 0. 2.11354359] [ 0.01545362 0.99988059 0. -0.13491685] [ 0. 0. 1. -0.00680206] [ 0. 0. 0. 1. ]] SLAMing on 2.045336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.14, Z:-0.00 [[ 0.99980695 -0.01964835 0. 2.14546575] [ 0.01964835 0.99980695 0. -0.13891993] [ 0. 0. 1. -0.00460823] [ 0. 0. 0. 1. ]] SLAMing on 2.0753361949999998 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.14, Z:-0.00 [[ 0.99965637 -0.02621328 0. 2.17810308] [ 0.02621328 0.99965637 0. -0.14488446] [ 0. 0. 1. -0.00244815] [ 0. 0. 0. 1. ]] SLAMing on 2.105336195 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.15, Z:-0.00 [[ 9.99600673e-01 -2.82576551e-02 0.00000000e+00 2.21009956e+00] [ 2.82576551e-02 9.99600673e-01 0.00000000e+00 -1.48758843e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.91519714e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.135336195 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.16, Z:0.00 [[ 0.99957233 -0.02924319 0. 2.24158725] [ 0.02924319 0.99957233 0. -0.15562892] [ 0. 0. 1. 0.00262724] [ 0. 0. 0. 1. ]] SLAMing on 2.165336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.16, Z:0.00 [[ 9.99621557e-01 -2.75089420e-02 0.00000000e+00 2.27437943e+00] [ 2.75089420e-02 9.99621557e-01 0.00000000e+00 -1.60082663e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35956035e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.195336195 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.17, Z:-0.00 [[ 0.99970424 -0.02431949 0. 2.30733685] [ 0.02431949 0.99970424 0. -0.1651423 ] [ 0. 0. 1. -0.00377978] [ 0. 0. 0. 1. ]] SLAMing on 2.2253361949999997 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.17, Z:-0.01 [[ 0.99979344 -0.02032442 0. 2.34029963] [ 0.02032442 0.99979344 0. -0.1691411 ] [ 0. 0. 1. -0.00770203] [ 0. 0. 0. 1. ]] SLAMing on 2.255336195 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.17, Z:-0.01 [[ 0.99993658 -0.01126175 0. 2.3712697 ] [ 0.01126175 0.99993658 0. -0.1675279 ] [ 0. 0. 1. -0.00924382] [ 0. 0. 0. 1. ]] SLAMing on 2.2853361949999997 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.17, Z:-0.01 [[ 0.99998377 -0.00569659 0. 2.4023667 ] [ 0.00569659 0.99998377 0. -0.1663985 ] [ 0. 0. 1. -0.01016727] [ 0. 0. 0. 1. ]] SLAMing on 2.315336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.17, Z:-0.01 [[ 9.99999815e-01 -6.08622590e-04 0.00000000e+00 2.43432966e+00] [ 6.08622590e-04 9.99999815e-01 0.00000000e+00 -1.65805450e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34622654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.345336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.16, Z:-0.01 [[ 0.99998815 0.00486882 0. 2.46474882] [-0.00486882 0.99998815 0. -0.16447185] [ 0. 0. 1. -0.01236037] [ 0. 0. 0. 1. ]] SLAMing on 2.375336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.15, Z:-0.01 [[ 0.99991469 0.01306222 0. 2.4928854 ] [-0.01306222 0.99991469 0. -0.15473753] [ 0. 0. 1. -0.0113928 ] [ 0. 0. 0. 1. ]] SLAMing on 2.405336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.15, Z:-0.01 [[ 0.999865 0.0164309 0. 2.52198002] [-0.0164309 0.999865 0. -0.15108833] [ 0. 0. 1. -0.00975514] [ 0. 0. 0. 1. ]] SLAMing on 2.4353361949999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.15, Z:-0.01 [[ 0.99982674 0.0186145 0. 2.55001659] [-0.0186145 0.99982674 0. -0.14904367] [ 0. 0. 1. -0.00984561] [ 0. 0. 0. 1. ]] SLAMing on 2.465336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.15, Z:-0.01 [[ 0.99978681 0.02064776 0. 2.57865551] [-0.02064776 0.99978681 0. -0.14721879] [ 0. 0. 1. -0.0070325 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4953361949999997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.14, Z:-0.01 [[ 0.99978712 0.02063262 0. 2.60798248] [-0.02063262 0.99978712 0. -0.13952737] [ 0. 0. 1. -0.01056758] [ 0. 0. 0. 1. ]] SLAMing on 2.525336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.13, Z:-0.01 [[ 0.99981569 0.01919842 0. 2.63510382] [-0.01919842 0.99981569 0. -0.13329828] [ 0. 0. 1. -0.01270131] [ 0. 0. 0. 1. ]] SLAMing on 2.5553361949999998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.13, Z:-0.01 [[ 0.999833 0.01827497 0. 2.6631984 ] [-0.01827497 0.999833 0. -0.12706703] [ 0. 0. 1. -0.00889021] [ 0. 0. 0. 1. ]] SLAMing on 2.585336195 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.12, Z:-0.01 [[ 0.99986554 0.01639825 0. 2.69091653] [-0.01639825 0.99986554 0. -0.12157383] [ 0. 0. 1. -0.00715362] [ 0. 0. 0. 1. ]] SLAMing on 2.615336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.12, Z:-0.01 [[ 0.99993866 0.0110759 0. 2.71975215] [-0.0110759 0.99993866 0. -0.11608449] [ 0. 0. 1. -0.01256915] [ 0. 0. 0. 1. ]] SLAMing on 2.6453361949999996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.11, Z:-0.01 [[ 0.99997219 0.00745721 0. 2.74851877] [-0.00745721 0.99997219 0. -0.1141309 ] [ 0. 0. 1. -0.01302933] [ 0. 0. 0. 1. ]] SLAMing on 2.675336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.11, Z:-0.01 [[ 9.99996448e-01 2.66516544e-03 0.00000000e+00 2.77699790e+00] [-2.66516544e-03 9.99996448e-01 0.00000000e+00 -1.11098709e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41482537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7053361949999997 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.10, Z:-0.01 [[ 0.99998339 -0.00576438 0. 2.80642101] [ 0.00576438 0.99998339 0. -0.10313952] [ 0. 0. 1. -0.01202164] [ 0. 0. 0. 1. ]] SLAMing on 2.735336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.10, Z:-0.01 [[ 0.99995464 -0.00952498 0. 2.83872943] [ 0.00952498 0.99995464 0. -0.09882243] [ 0. 0. 1. -0.01089231] [ 0. 0. 0. 1. ]] SLAMing on 2.7653361949999997 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.09, Z:-0.01 [[ 0.99991241 -0.01323538 0. 2.87007156] [ 0.01323538 0.99991241 0. -0.09469534] [ 0. 0. 1. -0.01065009] [ 0. 0. 0. 1. ]] SLAMing on 2.795336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.09, Z:-0.01 [[ 0.99980375 -0.01981078 0. 2.90321942] [ 0.01981078 0.99980375 0. -0.09100054] [ 0. 0. 1. -0.01140664] [ 0. 0. 0. 1. ]] SLAMing on 2.8253361949999998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.09, Z:-0.01 [[ 0.99980515 -0.01974007 0. 2.93676362] [ 0.01974007 0.99980515 0. -0.09153876] [ 0. 0. 1. -0.01140664] [ 0. 0. 0. 1. ]] SLAMing on 2.855336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.09, Z:-0.01 [[ 0.99971891 -0.0237088 0. 2.96946363] [ 0.0237088 0.99971891 0. -0.09261099] [ 0. 0. 1. -0.01205206] [ 0. 0. 0. 1. ]] SLAMing on 2.885336195 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.09, Z:-0.01 [[ 0.99961812 -0.02763359 0. 3.00185575] [ 0.02763359 0.99961812 0. -0.0935589 ] [ 0. 0. 1. -0.01182829] [ 0. 0. 0. 1. ]] SLAMing on 2.9153361949999996 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.09, Z:-0.01 [[ 0.99950009 -0.03161597 0. 3.03395334] [ 0.03161597 0.99950009 0. -0.09337268] [ 0. 0. 1. -0.01077033] [ 0. 0. 0. 1. ]] SLAMing on 2.945336195 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.09, Z:-0.01 [[ 0.99936656 -0.03558767 0. 3.06575417] [ 0.03558767 0.99936656 0. -0.09347421] [ 0. 0. 1. -0.00853626] [ 0. 0. 0. 1. ]] SLAMing on 2.9753361949999997 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.09, Z:-0.01 [[ 0.99907951 -0.04289682 0. 3.09794618] [ 0.04289682 0.99907951 0. -0.08995073] [ 0. 0. 1. -0.00628165] [ 0. 0. 0. 1. ]] SLAMing on 3.005336195 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.09, Z:-0.01 [[ 0.99900453 -0.04460887 0. 3.1309953 ] [ 0.04460887 0.99900453 0. -0.08703742] [ 0. 0. 1. -0.00554339] [ 0. 0. 0. 1. ]] SLAMing on 3.0353361949999997 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.09, Z:-0.01 [[ 0.99903307 -0.04396497 0. 3.16361958] [ 0.04396497 0.99903307 0. -0.08995348] [ 0. 0. 1. -0.01009148] [ 0. 0. 0. 1. ]] SLAMing on 3.065336195 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.09, Z:-0.01 [[ 0.99909812 -0.04246113 0. 3.19569824] [ 0.04246113 0.99909812 0. -0.09442625] [ 0. 0. 1. -0.01426416] [ 0. 0. 0. 1. ]] SLAMing on 3.095336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.10, Z:-0.02 [[ 0.99917006 -0.04073319 0. 3.22920206] [ 0.04073319 0.99917006 0. -0.09704357] [ 0. 0. 1. -0.01687865] [ 0. 0. 0. 1. ]] SLAMing on 3.125336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.10, Z:-0.02 [[ 0.99924805 -0.03877281 0. 3.26024307] [ 0.03877281 0.99924805 0. -0.09544856] [ 0. 0. 1. -0.01769803] [ 0. 0. 0. 1. ]] SLAMing on 3.155336195 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.08, Z:-0.01 [[ 0.99942389 -0.03393956 0. 3.29280971] [ 0.03393956 0.99942389 0. -0.08266461] [ 0. 0. 1. -0.01303165] [ 0. 0. 0. 1. ]] SLAMing on 3.1853361949999996 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.08, Z:-0.01 [[ 0.99950775 -0.03137292 0. 3.32434501] [ 0.03137292 0.99950775 0. -0.07729819] [ 0. 0. 1. -0.0130987 ] [ 0. 0. 0. 1. ]] SLAMing on 3.215336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.08, Z:-0.01 [[ 0.99959768 -0.0283632 0. 3.35626245] [ 0.0283632 0.99959768 0. -0.07511025] [ 0. 0. 1. -0.0102342 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2453361949999997 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.08, Z:-0.01 [[ 0.99970858 -0.02414033 0. 3.38809525] [ 0.02414033 0.99970858 0. -0.07670209] [ 0. 0. 1. -0.01278886] [ 0. 0. 0. 1. ]] SLAMing on 3.275336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.08, Z:-0.02 [[ 0.99986364 -0.01651395 0. 3.41975616] [ 0.01651395 0.99986364 0. -0.08193606] [ 0. 0. 1. -0.018504 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3053361949999998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.08, Z:-0.01 [[ 0.99990707 -0.01363278 0. 3.45239238] [ 0.01363278 0.99990707 0. -0.08085296] [ 0. 0. 1. -0.01333318] [ 0. 0. 0. 1. ]] SLAMing on 3.335336195 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.08, Z:-0.01 [[ 0.99992874 -0.01193821 0. 3.48512755] [ 0.01193821 0.99992874 0. -0.07740044] [ 0. 0. 1. -0.00944744] [ 0. 0. 0. 1. ]] SLAMing on 3.365336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.07, Z:-0.01 [[ 0.99993826 -0.01111223 0. 3.51703604] [ 0.01111223 0.99993826 0. -0.07274928] [ 0. 0. 1. -0.00908477] [ 0. 0. 0. 1. ]] SLAMing on 3.3953361949999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.07, Z:-0.01 [[ 0.99992528 -0.01222469 0. 3.54934273] [ 0.01222469 0.99992528 0. -0.07219679] [ 0. 0. 1. -0.00894561] [ 0. 0. 0. 1. ]] SLAMing on 3.425336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.08, Z:-0.01 [[ 0.99986989 -0.01613101 0. 3.58158961] [ 0.01613101 0.99986989 0. -0.07587289] [ 0. 0. 1. -0.0107325 ] [ 0. 0. 0. 1. ]] SLAMing on 3.4553361949999997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.08, Z:-0.02 [[ 0.99982448 -0.01873505 0. 3.61288318] [ 0.01873505 0.99982448 0. -0.08113056] [ 0. 0. 1. -0.0171387 ] [ 0. 0. 0. 1. ]] SLAMing on 3.485336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.09, Z:-0.02 [[ 0.99976682 -0.02159423 0. 3.64499387] [ 0.02159423 0.99976682 0. -0.08615987] [ 0. 0. 1. -0.01925839] [ 0. 0. 0. 1. ]] SLAMing on 3.5153361949999997 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.09, Z:-0.02 [[ 0.99957449 -0.02916909 0. 3.67585333] [ 0.02916909 0.99957449 0. -0.09024459] [ 0. 0. 1. -0.02046722] [ 0. 0. 0. 1. ]] SLAMing on 3.545336195 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.09, Z:-0.02 [[ 0.99945957 -0.03287197 0. 3.70846464] [ 0.03287197 0.99945957 0. -0.09399326] [ 0. 0. 1. -0.01844027] [ 0. 0. 0. 1. ]] SLAMing on 3.5753361949999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.10, Z:-0.02 [[ 0.99933554 -0.03644817 0. 3.74101136] [ 0.03644817 0.99933554 0. -0.09976099] [ 0. 0. 1. -0.01790981] [ 0. 0. 0. 1. ]] SLAMing on 3.6053361949999996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.11, Z:-0.01 [[ 0.99916025 -0.04097318 0. 3.77276439] [ 0.04097318 0.99916025 0. -0.10993485] [ 0. 0. 1. -0.01184543] [ 0. 0. 0. 1. ]] SLAMing on 3.635336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.12, Z:-0.01 [[ 0.99913045 -0.04169335 0. 3.80505332] [ 0.04169335 0.99913045 0. -0.11675904] [ 0. 0. 1. -0.01099959] [ 0. 0. 0. 1. ]] SLAMing on 3.6653361949999996 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.13, Z:-0.01 [[ 0.99915357 -0.04113574 0. 3.83847618] [ 0.04113574 0.99915357 0. -0.12550946] [ 0. 0. 1. -0.01222094] [ 0. 0. 0. 1. ]] SLAMing on 3.695336195 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.13, Z:-0.01 [[ 0.9992389 -0.03900805 0. 3.87176432] [ 0.03900805 0.9992389 0. -0.13340468] [ 0. 0. 1. -0.01380458] [ 0. 0. 0. 1. ]] SLAMing on 3.7253361949999997 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.14, Z:-0.02 [[ 0.99953788 -0.03039769 0. 3.90314784] [ 0.03039769 0.99953788 0. -0.14197732] [ 0. 0. 1. -0.01637042] [ 0. 0. 0. 1. ]] SLAMing on 3.755336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.15, Z:-0.02 [[ 0.99970904 -0.02412114 0. 3.93578247] [ 0.02412114 0.99970904 0. -0.14628179] [ 0. 0. 1. -0.01673816] [ 0. 0. 0. 1. ]] SLAMing on 3.7853361949999997 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.15, Z:-0.02 [[ 0.99985287 -0.01715312 0. 3.96725548] [ 0.01715312 0.99985287 0. -0.15099848] [ 0. 0. 1. -0.01822391] [ 0. 0. 0. 1. ]] SLAMing on 3.815336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.15, Z:-0.01 [[ 9.99999365e-01 -1.12729675e-03 0.00000000e+00 3.99939562e+00] [ 1.12729675e-03 9.99999365e-01 0.00000000e+00 -1.53867695e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36277342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.845336195 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.15, Z:-0.01 [[ 0.99997314 0.00732874 0. 4.03071608] [-0.00732874 0.99997314 0. -0.15209049] [ 0. 0. 1. -0.01023842] [ 0. 0. 0. 1. ]] SLAMing on 3.8753361949999996 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.15, Z:-0.01 [[ 0.9998835 0.01526408 0. 4.05806674] [-0.01526408 0.9998835 0. -0.15108414] [ 0. 0. 1. -0.00943584] [ 0. 0. 0. 1. ]] SLAMing on 3.905336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.16, Z:-0.01 [[ 0.9994914 0.03188961 0. 4.08654267] [-0.03188961 0.9994914 0. -0.15601813] [ 0. 0. 1. -0.011446 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9353361949999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.16, Z:-0.01 [[ 0.99924981 0.03872749 0. 4.1139744 ] [-0.03872749 0.99924981 0. -0.15805232] [ 0. 0. 1. -0.01315894] [ 0. 0. 0. 1. ]] SLAMing on 3.965336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.16, Z:-0.01 [[ 0.99905862 0.04338056 0. 4.14095677] [-0.04338056 0.99905862 0. -0.15653159] [ 0. 0. 1. -0.01266944] [ 0. 0. 0. 1. ]] SLAMing on 3.9953361949999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.14, Z:-0.01 [[ 0.99904991 0.04358072 0. 4.1694539 ] [-0.04358072 0.99904991 0. -0.14403479] [ 0. 0. 1. -0.00828509] [ 0. 0. 0. 1. ]] SLAMing on 4.0253361949999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.14, Z:-0.01 [[ 0.99919071 0.04022347 0. 4.19676657] [-0.04022347 0.99919071 0. -0.13903449] [ 0. 0. 1. -0.00811943] [ 0. 0. 0. 1. ]] SLAMing on 4.055336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.14, Z:-0.02 [[ 0.99957061 0.02930172 0. 4.2243349 ] [-0.02930172 0.99957061 0. -0.13850281] [ 0. 0. 1. -0.01579624] [ 0. 0. 0. 1. ]] SLAMing on 4.085336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.14, Z:-0.02 [[ 0.99974187 0.02271989 0. 4.25304877] [-0.02271989 0.99974187 0. -0.14194739] [ 0. 0. 1. -0.01887075] [ 0. 0. 0. 1. ]] SLAMing on 4.115336194999999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.15, Z:-0.02 [[ 0.99987476 0.0158259 0. 4.28113668] [-0.0158259 0.99987476 0. -0.14617439] [ 0. 0. 1. -0.02293124] [ 0. 0. 0. 1. ]] SLAMing on 4.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.15, Z:-0.03 [[ 0.99995769 0.00919902 0. 4.30866915] [-0.00919902 0.99995769 0. -0.15094804] [ 0. 0. 1. -0.02578432] [ 0. 0. 0. 1. ]] SLAMing on 4.175336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.15, Z:-0.03 [[ 9.99997325e-01 2.31301303e-03 0.00000000e+00 4.33597337e+00] [-2.31301303e-03 9.99997325e-01 0.00000000e+00 -1.54484720e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71769249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.205336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.15, Z:-0.02 [[ 0.9999537 -0.00962233 0. 4.36641432] [ 0.00962233 0.9999537 0. -0.15310479] [ 0. 0. 1. -0.0186318 ] [ 0. 0. 0. 1. ]] SLAMing on 4.2353361949999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.15, Z:-0.01 [[ 0.99989393 -0.01456482 0. 4.39958937] [ 0.01456482 0.99989393 0. -0.15026107] [ 0. 0. 1. -0.01447003] [ 0. 0. 0. 1. ]] SLAMing on 4.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.15, Z:-0.01 [[ 0.99981387 -0.01929298 0. 4.43045546] [ 0.01929298 0.99981387 0. -0.14928006] [ 0. 0. 1. -0.01423385] [ 0. 0. 0. 1. ]] SLAMing on 4.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.16, Z:-0.02 [[ 0.99962392 -0.02742287 0. 4.46297322] [ 0.02742287 0.99962392 0. -0.15645749] [ 0. 0. 1. -0.02098272] [ 0. 0. 0. 1. ]] SLAMing on 4.325336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.16, Z:-0.02 [[ 0.99955161 -0.02994304 0. 4.49636875] [ 0.02994304 0.99955161 0. -0.16298775] [ 0. 0. 1. -0.02141987] [ 0. 0. 0. 1. ]] SLAMing on 4.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.17, Z:-0.02 [[ 0.99949758 -0.03169526 0. 4.5282481 ] [ 0.03169526 0.99949758 0. -0.16884752] [ 0. 0. 1. -0.02201872] [ 0. 0. 0. 1. ]] SLAMing on 4.385336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.17, Z:-0.02 [[ 0.99944643 -0.03326925 0. 4.55948359] [ 0.03326925 0.99944643 0. -0.17300547] [ 0. 0. 1. -0.01551148] [ 0. 0. 0. 1. ]] SLAMing on 4.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.17, Z:-0.01 [[ 0.99946425 -0.03272924 0. 4.59185528] [ 0.03272924 0.99946425 0. -0.17236261] [ 0. 0. 1. -0.01167179] [ 0. 0. 0. 1. ]] SLAMing on 4.445336194999999 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.17, Z:-0.01 [[ 0.99955458 -0.02984355 0. 4.62314118] [ 0.02984355 0.99955458 0. -0.16603509] [ 0. 0. 1. -0.00544789] [ 0. 0. 0. 1. ]] SLAMing on 4.475336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.17, Z:-0.01 [[ 0.99962219 -0.02748584 0. 4.65600242] [ 0.02748584 0.99962219 0. -0.16523133] [ 0. 0. 1. -0.00538825] [ 0. 0. 0. 1. ]] SLAMing on 4.505336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.17, Z:-0.01 [[ 0.99977028 -0.02143318 0. 4.6871206 ] [ 0.02143318 0.99977028 0. -0.16989851] [ 0. 0. 1. -0.01190286] [ 0. 0. 0. 1. ]] SLAMing on 4.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.17, Z:-0.02 [[ 0.99984011 -0.01788192 0. 4.71882028] [ 0.01788192 0.99984011 0. -0.17498714] [ 0. 0. 1. -0.01579158] [ 0. 0. 0. 1. ]] SLAMing on 4.5653361949999995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.18, Z:-0.02 [[ 0.99992228 -0.01246725 0. 4.75123168] [ 0.01246725 0.99992228 0. -0.18305928] [ 0. 0. 1. -0.02294516] [ 0. 0. 0. 1. ]] SLAMing on 4.595336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.18, Z:-0.02 [[ 0.99995368 -0.00962486 0. 4.78343947] [ 0.00962486 0.99995368 0. -0.18378914] [ 0. 0. 1. -0.02481653] [ 0. 0. 0. 1. ]] SLAMing on 4.625336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.17, Z:-0.02 [[ 9.99991816e-01 -4.04561539e-03 0.00000000e+00 4.81442820e+00] [ 4.04561539e-03 9.99991816e-01 0.00000000e+00 -1.73489429e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70834014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.655336194999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.17, Z:-0.01 [[ 9.99999572e-01 9.25704471e-04 0.00000000e+00 4.84554876e+00] [-9.25704471e-04 9.99999572e-01 0.00000000e+00 -1.73747990e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43455210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.685336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.18, Z:-0.02 [[ 9.99994759e-01 3.23772285e-03 0.00000000e+00 4.87521496e+00] [-3.23772285e-03 9.99994759e-01 0.00000000e+00 -1.80530847e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98097817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.715336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.19, Z:-0.02 [[ 0.99997037 0.00769834 0. 4.90382067] [-0.00769834 0.99997037 0. -0.18790932] [ 0. 0. 1. -0.02187256] [ 0. 0. 0. 1. ]] SLAMing on 4.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.19, Z:-0.02 [[ 0.99995234 0.00976357 0. 4.93258676] [-0.00976357 0.99995234 0. -0.18650388] [ 0. 0. 1. -0.02110038] [ 0. 0. 0. 1. ]] SLAMing on 4.7753361949999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.19, Z:-0.02 [[ 0.9999528 0.00971568 0. 4.96188676] [-0.00971568 0.9999528 0. -0.18690615] [ 0. 0. 1. -0.02110038] [ 0. 0. 0. 1. ]] SLAMing on 4.805336195 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.18, Z:-0.02 [[ 0.99992655 0.01211961 0. 4.99091842] [-0.01211961 0.99992655 0. -0.18366411] [ 0. 0. 1. -0.01960899] [ 0. 0. 0. 1. ]] SLAMing on 4.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.18, Z:-0.01 [[ 0.9998211 0.01891471 0. 5.01960939] [-0.01891471 0.9998211 0. -0.17578493] [ 0. 0. 1. -0.01262889] [ 0. 0. 0. 1. ]] SLAMing on 4.865336194999999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.17, Z:-0.01 [[ 0.99971573 0.02384231 0. 5.04840041] [-0.02384231 0.99971573 0. -0.17177537] [ 0. 0. 1. -0.01003927] [ 0. 0. 0. 1. ]] SLAMing on 4.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.17, Z:-0.01 [[ 0.99969998 0.02449388 0. 5.07488956] [-0.02449388 0.99969998 0. -0.17301957] [ 0. 0. 1. -0.01358598] [ 0. 0. 0. 1. ]] SLAMing on 4.925336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.17, Z:-0.02 [[ 0.99970131 0.02443962 0. 5.10315843] [-0.02443962 0.99970131 0. -0.17489692] [ 0. 0. 1. -0.01611041] [ 0. 0. 0. 1. ]] SLAMing on 4.955336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.17, Z:-0.01 [[ 0.9996978 0.02458269 0. 5.13202749] [-0.02458269 0.9996978 0. -0.17271365] [ 0. 0. 1. -0.01250485] [ 0. 0. 0. 1. ]] SLAMing on 4.9853361949999995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.16, Z:-0.01 [[ 0.99968586 0.0250635 0. 5.15947486] [-0.0250635 0.99968586 0. -0.16286905] [ 0. 0. 1. -0.00995558] [ 0. 0. 0. 1. ]] SLAMing on 5.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.16, Z:-0.01 [[ 0.99966661 0.02582007 0. 5.18885206] [-0.02582007 0.99966661 0. -0.15809376] [ 0. 0. 1. -0.01279084] [ 0. 0. 0. 1. ]] SLAMing on 5.045336195 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.15, Z:-0.02 [[ 0.9996469 0.02657218 0. 5.21737648] [-0.02657218 0.9996469 0. -0.15075541] [ 0. 0. 1. -0.01547269] [ 0. 0. 0. 1. ]] SLAMing on 5.075336194999999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.15, Z:-0.02 [[ 0.99969523 0.02468699 0. 5.24520603] [-0.02468699 0.99969523 0. -0.14749886] [ 0. 0. 1. -0.02166795] [ 0. 0. 0. 1. ]] SLAMing on 5.105336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.15, Z:-0.02 [[ 0.99975094 0.02231738 0. 5.27376793] [-0.02231738 0.99975094 0. -0.14680168] [ 0. 0. 1. -0.02162409] [ 0. 0. 0. 1. ]] SLAMing on 5.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.14, Z:-0.02 [[ 0.99988603 0.01509724 0. 5.30103745] [-0.01509724 0.99988603 0. -0.13924491] [ 0. 0. 1. -0.02129077] [ 0. 0. 0. 1. ]] SLAMing on 5.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.13, Z:-0.02 [[ 0.99993899 0.01104607 0. 5.33017292] [-0.01104607 0.99993899 0. -0.13359203] [ 0. 0. 1. -0.01816226] [ 0. 0. 0. 1. ]] SLAMing on 5.195336194999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.13, Z:-0.02 [[ 9.99992836e-01 3.78525952e-03 0.00000000e+00 5.35768365e+00] [-3.78525952e-03 9.99992836e-01 0.00000000e+00 -1.28783046e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71781018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.13, Z:-0.02 [[ 9.99999931e-01 3.70922194e-04 0.00000000e+00 5.38732703e+00] [-3.70922194e-04 9.99999931e-01 0.00000000e+00 -1.30526873e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70657185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.255336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.13, Z:-0.02 [[ 9.99993725e-01 -3.54249825e-03 0.00000000e+00 5.41768547e+00] [ 3.54249825e-03 9.99993725e-01 0.00000000e+00 -1.31925275e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54169214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.285336194999999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.13, Z:-0.01 [[ 0.99992482 -0.01226229 0. 5.45037113] [ 0.01226229 0.99992482 0. -0.12799369] [ 0. 0. 1. -0.00757627] [ 0. 0. 0. 1. ]] SLAMing on 5.3153361949999995 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.12, Z:-0.01 [[ 0.99979246 -0.02037221 0. 5.48280169] [ 0.02037221 0.99979246 0. -0.12225624] [ 0. 0. 1. -0.00567973] [ 0. 0. 0. 1. ]] SLAMing on 5.345336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.12, Z:-0.01 [[ 0.99972248 -0.02355772 0. 5.51454625] [ 0.02355772 0.99972248 0. -0.12070809] [ 0. 0. 1. -0.00736876] [ 0. 0. 0. 1. ]] SLAMing on 5.375336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.13, Z:-0.02 [[ 0.99964996 -0.02645661 0. 5.54539667] [ 0.02645661 0.99964996 0. -0.12629777] [ 0. 0. 1. -0.01738996] [ 0. 0. 0. 1. ]] SLAMing on 5.405336194999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.13, Z:-0.02 [[ 0.99967031 -0.02567618 0. 5.57778202] [ 0.02567618 0.99967031 0. -0.13165245] [ 0. 0. 1. -0.02142991] [ 0. 0. 0. 1. ]] SLAMing on 5.435336195 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.13, Z:-0.02 [[ 0.99975072 -0.02232707 0. 5.60930247] [ 0.02232707 0.99975072 0. -0.12866462] [ 0. 0. 1. -0.0232826 ] [ 0. 0. 0. 1. ]] SLAMing on 5.465336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.12, Z:-0.02 [[ 0.99982174 -0.01888082 0. 5.64263593] [ 0.01888082 0.99982174 0. -0.12008204] [ 0. 0. 1. -0.01640468] [ 0. 0. 0. 1. ]] SLAMing on 5.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.12, Z:-0.01 [[ 0.99985809 -0.01684613 0. 5.67475218] [ 0.01684613 0.99985809 0. -0.11923477] [ 0. 0. 1. -0.0140476 ] [ 0. 0. 0. 1. ]] SLAMing on 5.5253361949999995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.12, Z:-0.01 [[ 0.99988884 -0.01490971 0. 5.70762567] [ 0.01490971 0.99988884 0. -0.11920549] [ 0. 0. 1. -0.01153713] [ 0. 0. 0. 1. ]] SLAMing on 5.555336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.12, Z:-0.01 [[ 0.99992208 -0.01248308 0. 5.7394704 ] [ 0.01248308 0.99992208 0. -0.12149969] [ 0. 0. 1. -0.0136415 ] [ 0. 0. 0. 1. ]] SLAMing on 5.585336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.12, Z:-0.02 [[ 0.99993513 -0.01139007 0. 5.77239683] [ 0.01139007 0.99993513 0. -0.12363487] [ 0. 0. 1. -0.01614431] [ 0. 0. 0. 1. ]] SLAMing on 5.615336194999999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.12, Z:-0.02 [[ 0.99997913 -0.00646026 0. 5.80501851] [ 0.00646026 0.99997913 0. -0.12119117] [ 0. 0. 1. -0.01865665] [ 0. 0. 0. 1. ]] SLAMing on 5.645336195 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.12, Z:-0.02 [[ 9.99992243e-01 -3.93868194e-03 0.00000000e+00 5.83582707e+00] [ 3.93868194e-03 9.99992243e-01 0.00000000e+00 -1.17387449e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03124169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.675336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.11, Z:-0.02 [[ 9.99999201e-01 1.26408335e-03 0.00000000e+00 5.86751547e+00] [-1.26408335e-03 9.99999201e-01 0.00000000e+00 -1.10191491e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69929213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.705336195 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.11, Z:-0.01 [[ 9.99994156e-01 3.41882096e-03 0.00000000e+00 5.89722302e+00] [-3.41882096e-03 9.99994156e-01 0.00000000e+00 -1.09476890e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34049179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7353361949999995 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.11, Z:-0.01 [[ 9.99991260e-01 4.18083667e-03 0.00000000e+00 5.92584262e+00] [-4.18083667e-03 9.99991260e-01 0.00000000e+00 -1.06744746e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21882320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.765336195 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.10, Z:-0.01 [[ 9.99991546e-01 4.11185311e-03 0.00000000e+00 5.95437136e+00] [-4.11185311e-03 9.99991546e-01 0.00000000e+00 -1.02565688e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.42003490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.795336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.09, Z:-0.01 [[ 9.99998178e-01 1.90871961e-03 0.00000000e+00 5.98325294e+00] [-1.90871961e-03 9.99998178e-01 0.00000000e+00 -9.44339501e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17287556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.825336194999999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.09, Z:-0.01 [[ 9.99999779e-01 6.65119021e-04 0.00000000e+00 6.01195484e+00] [-6.65119021e-04 9.99999779e-01 0.00000000e+00 -9.39622765e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49241516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.855336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.09, Z:-0.02 [[ 9.99999999e-01 3.63605836e-05 0.00000000e+00 6.04199158e+00] [-3.63605836e-05 9.99999999e-01 0.00000000e+00 -9.45173983e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97488689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.885336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.09, Z:-0.02 [[ 9.99999979e-01 -2.05457556e-04 0.00000000e+00 6.07158373e+00] [ 2.05457556e-04 9.99999979e-01 0.00000000e+00 -9.46453380e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17069722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.915336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.09, Z:-0.02 [[ 9.99998308e-01 -1.83979727e-03 0.00000000e+00 6.10226516e+00] [ 1.83979727e-03 9.99998308e-01 0.00000000e+00 -9.19610573e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45172502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.945336194999999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.09, Z:-0.02 [[ 9.99992481e-01 -3.87793012e-03 0.00000000e+00 6.13375641e+00] [ 3.87793012e-03 9.99992481e-01 0.00000000e+00 -8.96798657e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33125368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.975336195 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.09, Z:-0.02 [[ 9.99988448e-01 -4.80658489e-03 0.00000000e+00 6.16473337e+00] [ 4.80658489e-03 9.99988448e-01 0.00000000e+00 -9.03599062e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76867899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.005336195 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.09, Z:-0.01 [[ 9.99983160e-01 -5.80347755e-03 0.00000000e+00 6.19661994e+00] [ 5.80347755e-03 9.99983160e-01 0.00000000e+00 -9.29349120e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36688516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.035336194999999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.10, Z:-0.01 [[ 0.99996397 -0.00848838 0. 6.22897456] [ 0.00848838 0.99996397 0. -0.09684477] [ 0. 0. 1. -0.01442204] [ 0. 0. 0. 1. ]] SLAMing on 6.0653361949999995 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.10, Z:-0.01 [[ 0.99994288 -0.0106883 0. 6.26149235] [ 0.0106883 0.99994288 0. -0.09699293] [ 0. 0. 1. -0.01221445] [ 0. 0. 0. 1. ]] SLAMing on 6.095336195 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.10, Z:-0.01 [[ 0.99993798 -0.01113743 0. 6.293715 ] [ 0.01113743 0.99993798 0. -0.0991898 ] [ 0. 0. 1. -0.0128726 ] [ 0. 0. 0. 1. ]] SLAMing on 6.125336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.10, Z:-0.02 [[ 0.99993571 -0.01133921 0. 6.32624216] [ 0.01133921 0.99993571 0. -0.10421075] [ 0. 0. 1. -0.019123 ] [ 0. 0. 0. 1. ]] SLAMing on 6.155336194999999 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.11, Z:-0.02 [[ 0.99994699 -0.01029632 0. 6.3574714 ] [ 0.01029632 0.99994699 0. -0.10532213] [ 0. 0. 1. -0.01953848] [ 0. 0. 0. 1. ]] SLAMing on 6.185336195 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.10, Z:-0.02 [[ 0.99997587 -0.00694712 0. 6.38972865] [ 0.00694712 0.99997587 0. -0.10329996] [ 0. 0. 1. -0.01985569] [ 0. 0. 0. 1. ]] SLAMing on 6.215336195 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.10, Z:-0.02 [[ 9.99992363e-01 -3.90808525e-03 0.00000000e+00 6.42236178e+00] [ 3.90808525e-03 9.99992363e-01 0.00000000e+00 -1.02817606e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93475730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.245336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.10, Z:-0.02 [[ 9.99986484e-01 5.19917318e-03 0.00000000e+00 6.45456391e+00] [-5.19917318e-03 9.99986484e-01 0.00000000e+00 -1.00228906e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96714457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2753361949999995 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.10, Z:-0.02 [[ 0.99994341 0.01063802 0. 6.48150903] [-0.01063802 0.99994341 0. -0.09863034] [ 0. 0. 1. -0.0224791 ] [ 0. 0. 0. 1. ]] SLAMing on 6.305336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.09, Z:-0.02 [[ 0.99980721 0.01963541 0. 6.50983579] [-0.01963541 0.99980721 0. -0.09449807] [ 0. 0. 1. -0.02418323] [ 0. 0. 0. 1. ]] SLAMing on 6.335336195 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.09, Z:-0.02 [[ 0.99974842 0.02242996 0. 6.5382368 ] [-0.02242996 0.99974842 0. -0.08881735] [ 0. 0. 1. -0.02111603] [ 0. 0. 0. 1. ]] SLAMing on 6.365336194999999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.08, Z:-0.02 [[ 0.99967664 0.02542875 0. 6.56634238] [-0.02542875 0.99967664 0. -0.07563565] [ 0. 0. 1. -0.01808908] [ 0. 0. 0. 1. ]] SLAMing on 6.395336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.07, Z:-0.02 [[ 0.99967715 0.02540876 0. 6.59477208] [-0.02540876 0.99967715 0. -0.07392062] [ 0. 0. 1. -0.02176454] [ 0. 0. 0. 1. ]] SLAMing on 6.425336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.07, Z:-0.03 [[ 0.99974084 0.02276521 0. 6.62397888] [-0.02276521 0.99974084 0. -0.07102052] [ 0. 0. 1. -0.02683203] [ 0. 0. 0. 1. ]] SLAMing on 6.455336195 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.07, Z:-0.02 [[ 0.99979728 0.0201344 0. 6.65086852] [-0.0201344 0.99979728 0. -0.06539391] [ 0. 0. 1. -0.02434115] [ 0. 0. 0. 1. ]] SLAMing on 6.4853361949999995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.05, Z:-0.02 [[ 0.99991335 0.01316419 0. 6.67867296] [-0.01316419 0.99991335 0. -0.05490469] [ 0. 0. 1. -0.01850142] [ 0. 0. 0. 1. ]] SLAMing on 6.515336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.05, Z:-0.02 [[ 9.99994643e-01 3.27317877e-03 0.00000000e+00 6.70640770e+00] [-3.27317877e-03 9.99994643e-01 0.00000000e+00 -5.14827070e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14654420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.545336195 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.05, Z:-0.02 [[ 9.99998867e-01 -1.50522184e-03 0.00000000e+00 6.73602844e+00] [ 1.50522184e-03 9.99998867e-01 0.00000000e+00 -4.89268379e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75008318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.575336194999999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.04, Z:-0.01 [[ 0.99993505 -0.01139707 0. 6.76753746] [ 0.01139707 0.99993505 0. -0.04382309] [ 0. 0. 1. -0.01472633] [ 0. 0. 0. 1. ]] SLAMing on 6.605336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.04, Z:-0.02 [[ 0.99987816 -0.01560967 0. 6.79960462] [ 0.01560967 0.99987816 0. -0.04415076] [ 0. 0. 1. -0.01556915] [ 0. 0. 0. 1. ]] SLAMing on 6.635336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.04, Z:-0.02 [[ 0.99987922 -0.01554197 0. 6.83315194] [ 0.01554197 0.99987922 0. -0.04481833] [ 0. 0. 1. -0.01556915] [ 0. 0. 0. 1. ]] SLAMing on 6.665336195 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.05, Z:-0.02 [[ 0.99976604 -0.02163009 0. 6.86565263] [ 0.02163009 0.99976604 0. -0.04781882] [ 0. 0. 1. -0.01920268] [ 0. 0. 0. 1. ]] SLAMing on 6.695336194999999 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.05, Z:-0.02 [[ 0.99973765 -0.02290497 0. 6.89908225] [ 0.02290497 0.99973765 0. -0.04952879] [ 0. 0. 1. -0.01745497] [ 0. 0. 0. 1. ]] SLAMing on 6.725336195 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.05, Z:-0.02 [[ 0.99970355 -0.02434776 0. 6.92998751] [ 0.02434776 0.99970355 0. -0.0516449 ] [ 0. 0. 1. -0.01537852] [ 0. 0. 0. 1. ]] SLAMing on 6.755336195 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.05, Z:-0.01 [[ 0.99968895 -0.02493987 0. 6.96269472] [ 0.02493987 0.99968895 0. -0.05210531] [ 0. 0. 1. -0.01303652] [ 0. 0. 0. 1. ]] SLAMing on 6.785336194999999 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.05, Z:-0.01 [[ 0.99969036 -0.0248835 0. 6.9936966 ] [ 0.0248835 0.99969036 0. -0.0462853 ] [ 0. 0. 1. -0.00768486] [ 0. 0. 0. 1. ]] SLAMing on 6.8153361949999995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.04, Z:-0.01 [[ 9.99706710e-01 -2.42176271e-02 0.00000000e+00 7.02616713e+00] [ 2.42176271e-02 9.99706710e-01 0.00000000e+00 -4.48031344e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75602675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.845336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.05, Z:-0.02 [[ 0.99977263 -0.02132346 0. 7.05865598] [ 0.02132346 0.99977263 0. -0.05287737] [ 0. 0. 1. -0.01561283] [ 0. 0. 0. 1. ]] SLAMing on 6.875336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.06, Z:-0.02 [[ 0.99983497 -0.01816707 0. 7.09081105] [ 0.01816707 0.99983497 0. -0.05651945] [ 0. 0. 1. -0.0185924 ] [ 0. 0. 0. 1. ]] SLAMing on 6.905336194999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.05, Z:-0.02 [[ 0.99993899 -0.01104616 0. 7.12224239] [ 0.01104616 0.99993899 0. -0.05254282] [ 0. 0. 1. -0.01818467] [ 0. 0. 0. 1. ]] SLAMing on 6.935336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.05, Z:-0.02 [[ 0.99997009 -0.00773369 0. 7.15358564] [ 0.00773369 0.99997009 0. -0.04874129] [ 0. 0. 1. -0.01625582] [ 0. 0. 0. 1. ]] SLAMing on 6.965336195 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.04, Z:-0.00 [[ 9.99999398e-01 -1.09704391e-03 0.00000000e+00 7.18587252e+00] [ 1.09704391e-03 9.99999398e-01 0.00000000e+00 -4.14295812e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.25396898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.995336194999999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.04, Z:-0.00 [[ 9.99991152e-01 4.20676890e-03 0.00000000e+00 7.21667263e+00] [-4.20676890e-03 9.99991152e-01 0.00000000e+00 -4.10751592e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.25004366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0253361949999995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.04, Z:-0.01 [[ 9.99982883e-01 5.85100696e-03 0.00000000e+00 7.24410867e+00] [-5.85100696e-03 9.99982883e-01 0.00000000e+00 -4.39404347e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.12506265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.055336195 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.04, Z:-0.01 [[ 0.99997345 0.00728692 0. 7.27244606] [-0.00728692 0.99997345 0. -0.04384306] [ 0. 0. 1. -0.00914938] [ 0. 0. 0. 1. ]] SLAMing on 7.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.04, Z:-0.01 [[ 9.99967907e-01 8.01151011e-03 0.00000000e+00 7.29990641e+00] [-8.01151011e-03 9.99967907e-01 0.00000000e+00 -4.05042919e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.27609578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.115336194999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.04, Z:-0.01 [[ 0.99996367 0.00852442 0. 7.32850563] [-0.00852442 0.99996367 0. -0.03581209] [ 0. 0. 1. -0.00792271] [ 0. 0. 0. 1. ]] SLAMing on 7.145336195 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.04, Z:-0.01 [[ 0.99996083 0.0088513 0. 7.3574424 ] [-0.0088513 0.99996083 0. -0.03697483] [ 0. 0. 1. -0.01065207] [ 0. 0. 0. 1. ]] SLAMing on 7.175336195 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.04, Z:-0.02 [[ 0.99994111 0.01085225 0. 7.38581525] [-0.01085225 0.99994111 0. -0.04119953] [ 0. 0. 1. -0.0161878 ] [ 0. 0. 0. 1. ]] SLAMing on 7.205336194999999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.04, Z:-0.02 [[ 0.99993085 0.01175988 0. 7.41476081] [-0.01175988 0.99993085 0. -0.04265227] [ 0. 0. 1. -0.01591326] [ 0. 0. 0. 1. ]] SLAMing on 7.2353361949999995 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.04, Z:-0.01 [[ 0.9999358 0.01133134 0. 7.44241285] [-0.01133134 0.9999358 0. -0.04076316] [ 0. 0. 1. -0.01184434] [ 0. 0. 0. 1. ]] SLAMing on 7.265336195 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.04, Z:-0.00 [[ 9.99942119e-01 1.07591331e-02 0.00000000e+00 7.46980282e+00] [-1.07591331e-02 9.99942119e-01 0.00000000e+00 -3.65656009e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71422797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.295336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.03, Z:-0.00 [[ 9.99950537e-01 9.94608178e-03 0.00000000e+00 7.49871480e+00] [-9.94608178e-03 9.99950537e-01 0.00000000e+00 -3.42566182e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.86776432e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.325336194999999 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.03, Z:-0.00 [[ 9.99951772e-01 9.82106759e-03 0.00000000e+00 7.52602473e+00] [-9.82106759e-03 9.99951772e-01 0.00000000e+00 -3.39550075e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02574850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.355336195 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.04, Z:-0.01 [[ 0.99993362 0.01152195 0. 7.55526957] [-0.01152195 0.99993362 0. -0.03531992] [ 0. 0. 1. -0.00788432] [ 0. 0. 0. 1. ]] SLAMing on 7.385336195 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.03, Z:-0.01 [[ 0.9999251 0.01223933 0. 7.58414057] [-0.01223933 0.9999251 0. -0.03438652] [ 0. 0. 1. -0.00895269] [ 0. 0. 0. 1. ]] SLAMing on 7.415336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.03, Z:-0.01 [[ 9.99899281e-01 1.41925080e-02 0.00000000e+00 7.61097739e+00] [-1.41925080e-02 9.99899281e-01 0.00000000e+00 -2.68176411e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.14322336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.445336194999999 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.02, Z:-0.01 [[ 9.99890835e-01 1.47756110e-02 0.00000000e+00 7.63866773e+00] [-1.47756110e-02 9.99890835e-01 0.00000000e+00 -1.78349927e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.05397219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.02, Z:-0.01 [[ 0.99990015 0.01413105 0. 7.66686639] [-0.01413105 0.99990015 0. -0.01682931] [ 0. 0. 1. -0.00782839] [ 0. 0. 0. 1. ]] SLAMing on 7.505336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.02, Z:-0.01 [[ 0.99992044 0.01261384 0. 7.6952724 ] [-0.01261384 0.99992044 0. -0.01713219] [ 0. 0. 1. -0.00901638] [ 0. 0. 0. 1. ]] SLAMing on 7.535336194999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.02, Z:-0.01 [[ 0.99996455 0.00842063 0. 7.72354142] [-0.00842063 0.99996455 0. -0.01554656] [ 0. 0. 1. -0.00878617] [ 0. 0. 0. 1. ]] SLAMing on 7.5653361949999995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.01, Z:-0.01 [[ 9.99996091e-01 2.79598221e-03 0.00000000e+00 7.75272285e+00] [-2.79598221e-03 9.99996091e-01 0.00000000e+00 -9.40928025e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.99712564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.595336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.01, Z:-0.01 [[ 9.99999970e-01 2.45724315e-04 0.00000000e+00 7.78055810e+00] [-2.45724315e-04 9.99999970e-01 0.00000000e+00 -7.20672559e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.35856520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.625336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.01, Z:-0.01 [[ 9.99996224e-01 -2.74813844e-03 0.00000000e+00 7.81110445e+00] [ 2.74813844e-03 9.99996224e-01 0.00000000e+00 -6.01606604e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17190953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.655336194999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.01, Z:-0.01 [[ 9.99992980e-01 -3.74687105e-03 0.00000000e+00 7.84295248e+00] [ 3.74687105e-03 9.99992980e-01 0.00000000e+00 -6.45723491e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36657658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.685336195 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.00, Z:-0.01 [[ 9.99988596e-01 -4.77585807e-03 0.00000000e+00 7.87507942e+00] [ 4.77585807e-03 9.99988596e-01 0.00000000e+00 -9.12567873e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38257345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.715336195 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:7.91, Y:0.01, Z:-0.01 [[ 9.99993289e-01 -3.66361860e-03 0.00000000e+00 7.90768724e+00] [ 3.66361860e-03 9.99993289e-01 0.00000000e+00 5.84453457e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.08588858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.745336194999999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:7.94, Y:0.01, Z:-0.01 [[ 9.99997631e-01 -2.17651726e-03 0.00000000e+00 7.93998273e+00] [ 2.17651726e-03 9.99997631e-01 0.00000000e+00 6.66160035e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46140107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7753361949999995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:7.97, Y:0.01, Z:-0.01 [[ 9.99999814e-01 6.10188397e-04 0.00000000e+00 7.97226982e+00] [-6.10188397e-04 9.99999814e-01 0.00000000e+00 7.61538293e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.95238689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.805336195 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:8.00, Y:0.01, Z:-0.01 [[ 9.99999252e-01 1.22289539e-03 0.00000000e+00 8.00142429e+00] [-1.22289539e-03 9.99999252e-01 0.00000000e+00 9.52613436e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06290636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.835336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:8.03, Y:0.02, Z:-0.00 [[ 9.99996879e-01 2.49840807e-03 0.00000000e+00 8.03110720e+00] [-2.49840807e-03 9.99996879e-01 0.00000000e+00 1.77290109e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51257754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.865336194999999 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:8.06, Y:0.02, Z:-0.00 [[ 9.99996029e-01 2.81816898e-03 0.00000000e+00 8.05951047e+00] [-2.81816898e-03 9.99996029e-01 0.00000000e+00 2.23825256e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60081778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.895336195 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:8.09, Y:0.03, Z:-0.01 [[ 9.99995797e-01 2.89937051e-03 0.00000000e+00 8.08885923e+00] [-2.89937051e-03 9.99995797e-01 0.00000000e+00 2.63638986e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.52173689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.925336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.12, Y:0.02, Z:-0.01 [[ 9.99997124e-01 2.39821219e-03 0.00000000e+00 8.11679124e+00] [-2.39821219e-03 9.99997124e-01 0.00000000e+00 2.41457746e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24603368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.955336194999999 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:8.15, Y:0.02, Z:-0.02 [[ 9.99999672e-01 8.10523817e-04 0.00000000e+00 8.14527927e+00] [-8.10523817e-04 9.99999672e-01 0.00000000e+00 2.33804202e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71962601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9853361949999995 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:8.17, Y:0.03, Z:-0.02 [[ 9.99999529e-01 -9.70311482e-04 0.00000000e+00 8.17466812e+00] [ 9.70311482e-04 9.99999529e-01 0.00000000e+00 2.73250112e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72693981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.015336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.21, Y:0.03, Z:-0.01 [[ 9.99996797e-01 -2.53095636e-03 0.00000000e+00 8.20596099e+00] [ 2.53095636e-03 9.99996797e-01 0.00000000e+00 2.99392161e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45652108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.045336194999999 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:8.24, Y:0.03, Z:-0.02 [[ 9.99970291e-01 -7.70830512e-03 0.00000000e+00 8.23695791e+00] [ 7.70830512e-03 9.99970291e-01 0.00000000e+00 2.85411968e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71097207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.075336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:8.27, Y:0.02, Z:-0.02 [[ 0.99993532 -0.01137361 0. 8.26919269] [ 0.01137361 0.99993532 0. 0.02437853] [ 0. 0. 1. -0.01572589] [ 0. 0. 0. 1. ]] SLAMing on 8.105336195 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:8.30, Y:0.02, Z:-0.01 [[ 0.99983575 -0.0181238 0. 8.30013684] [ 0.0181238 0.99983575 0. 0.01994657] [ 0. 0. 1. -0.01142841] [ 0. 0. 0. 1. ]] SLAMing on 8.135336194999999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:8.33, Y:0.02, Z:-0.01 [[ 0.99976919 -0.02148426 0. 8.33307823] [ 0.02148426 0.99976919 0. 0.01684644] [ 0. 0. 1. -0.01202425] [ 0. 0. 0. 1. ]] SLAMing on 8.165336195 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:8.36, Y:0.01, Z:-0.01 [[ 9.99675811e-01 -2.54612165e-02 0.00000000e+00 8.36487083e+00] [ 2.54612165e-02 9.99675811e-01 0.00000000e+00 5.21011585e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34826355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.195336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.00, Z:-0.01 [[ 9.99675203e-01 -2.54850802e-02 0.00000000e+00 8.39799732e+00] [ 2.54850802e-02 9.99675203e-01 0.00000000e+00 -9.59760119e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31136097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.225336194999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.00, Z:-0.01 [[ 9.99744755e-01 -2.25925742e-02 0.00000000e+00 8.42954671e+00] [ 2.25925742e-02 9.99744755e-01 0.00000000e+00 -4.46133634e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40504202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.255336195 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.01, Z:-0.02 [[ 0.99989543 -0.01446153 0. 8.46209985] [ 0.01446153 0.99989543 0. -0.00892273] [ 0. 0. 1. -0.01657748] [ 0. 0. 0. 1. ]] SLAMing on 8.285336195 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.01, Z:-0.02 [[ 0.99996229 -0.00868415 0. 8.49480041] [ 0.00868415 0.99996229 0. -0.01205044] [ 0. 0. 1. -0.0176702 ] [ 0. 0. 0. 1. ]] SLAMing on 8.315336195 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.01, Z:-0.02 [[ 9.99986434e-01 5.20887151e-03 0.00000000e+00 8.52717771e+00] [-5.20887151e-03 9.99986434e-01 0.00000000e+00 -1.04245381e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67797552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.345336195 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.01, Z:-0.02 [[ 9.99931594e-01 1.16964971e-02 0.00000000e+00 8.55546764e+00] [-1.16964971e-02 9.99931594e-01 0.00000000e+00 -7.82499782e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76047075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.375336195 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.01, Z:-0.02 [[ 9.99689168e-01 2.49312514e-02 0.00000000e+00 8.58295683e+00] [-2.49312514e-02 9.99689168e-01 0.00000000e+00 -7.02109628e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07697552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.405336195 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.01, Z:-0.02 [[ 9.99553956e-01 2.98645146e-02 0.00000000e+00 8.61023835e+00] [-2.98645146e-02 9.99553956e-01 0.00000000e+00 -7.94064381e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02930500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.435336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.01, Z:-0.02 [[ 9.99350988e-01 3.60222524e-02 0.00000000e+00 8.63918257e+00] [-3.60222524e-02 9.99350988e-01 0.00000000e+00 -6.84842626e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68465435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.465336194999999 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.01, Z:-0.02 [[ 9.99367164e-01 3.55706609e-02 0.00000000e+00 8.66734821e+00] [-3.55706609e-02 9.99367164e-01 0.00000000e+00 -5.23955558e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62060032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.495336195 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.00, Z:-0.01 [[ 9.99537810e-01 3.04001099e-02 0.00000000e+00 8.69524340e+00] [-3.04001099e-02 9.99537810e-01 0.00000000e+00 -7.71101337e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34132988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.525336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.00, Z:-0.02 [[ 9.99778867e-01 2.10289604e-02 0.00000000e+00 8.72383666e+00] [-2.10289604e-02 9.99778867e-01 0.00000000e+00 -2.67016228e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08846894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.555336194999999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.00, Z:-0.02 [[ 9.99780309e-01 2.09602681e-02 0.00000000e+00 8.75227413e+00] [-2.09602681e-02 9.99780309e-01 0.00000000e+00 -3.01946123e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08846894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.585336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.01, Z:-0.02 [[ 9.99883234e-01 1.52813152e-02 0.00000000e+00 8.78071991e+00] [-1.52813152e-02 9.99883234e-01 0.00000000e+00 -7.46332565e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39585422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.615336195 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.01, Z:-0.02 [[ 9.99997224e-01 2.35642131e-03 0.00000000e+00 8.80862338e+00] [-2.35642131e-03 9.99997224e-01 0.00000000e+00 -1.05758588e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93242690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.645336195 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.01, Z:-0.01 [[ 9.99992385e-01 -3.90250541e-03 0.00000000e+00 8.83830491e+00] [ 3.90250541e-03 9.99992385e-01 0.00000000e+00 -9.79103537e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47337269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.675336195 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.01, Z:-0.01 [[ 0.99989671 -0.01437281 0. 8.87117823] [ 0.01437281 0.99989671 0. -0.01497702] [ 0. 0. 1. -0.01411313] [ 0. 0. 0. 1. ]] SLAMing on 8.705336195 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.02, Z:-0.02 [[ 0.99984516 -0.01759677 0. 8.90318862] [ 0.01759677 0.99984516 0. -0.02087406] [ 0. 0. 1. -0.01597607] [ 0. 0. 0. 1. ]] SLAMing on 8.735336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.03, Z:-0.01 [[ 0.99980974 -0.01950592 0. 8.9345474 ] [ 0.01950592 0.99980974 0. -0.0273665 ] [ 0. 0. 1. -0.0101966 ] [ 0. 0. 0. 1. ]] SLAMing on 8.765336195 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.03, Z:-0.01 [[ 0.99982863 -0.01851227 0. 8.96706705] [ 0.01851227 0.99982863 0. -0.02689706] [ 0. 0. 1. -0.01152345] [ 0. 0. 0. 1. ]] SLAMing on 8.795336194999999 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.03, Z:-0.01 [[ 0.99991106 -0.01333654 0. 8.99861776] [ 0.01333654 0.99991106 0. -0.02677602] [ 0. 0. 1. -0.01462346] [ 0. 0. 0. 1. ]] SLAMing on 8.825336195 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.03, Z:-0.01 [[ 0.99995695 -0.00927874 0. 9.03180868] [ 0.00927874 0.99995695 0. -0.02829174] [ 0. 0. 1. -0.01481134] [ 0. 0. 0. 1. ]] SLAMing on 8.855336195 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.03, Z:-0.02 [[ 9.99999877e-01 4.95156195e-04 0.00000000e+00 9.06290874e+00] [-4.95156195e-04 9.99999877e-01 0.00000000e+00 -3.27558119e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02910130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.885336194999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.03, Z:-0.02 [[ 9.99981638e-01 6.05992297e-03 0.00000000e+00 9.09256552e+00] [-6.05992297e-03 9.99981638e-01 0.00000000e+00 -3.28325670e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08160508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.915336195 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.02, Z:-0.01 [[ 0.99988463 0.01518953 0. 9.12158371] [-0.01518953 0.99988463 0. -0.02300879] [ 0. 0. 1. -0.01116494] [ 0. 0. 0. 1. ]] SLAMing on 8.945336195 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.02, Z:-0.01 [[ 9.99825960e-01 1.86560866e-02 0.00000000e+00 9.15094127e+00] [-1.86560866e-02 9.99825960e-01 0.00000000e+00 -1.75795182e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.92556174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.975336194999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.01, Z:-0.00 [[ 9.99736855e-01 2.29395018e-02 0.00000000e+00 9.17988892e+00] [-2.29395018e-02 9.99736855e-01 0.00000000e+00 -1.38978934e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98595493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.005336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.01, Z:-0.00 [[ 9.99753094e-01 2.22205304e-02 0.00000000e+00 9.20788477e+00] [-2.22205304e-02 9.99753094e-01 0.00000000e+00 -1.45165497e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73724363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.035336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.01, Z:-0.01 [[ 9.99846287e-01 1.75328995e-02 0.00000000e+00 9.23512085e+00] [-1.75328995e-02 9.99846287e-01 0.00000000e+00 -1.34759941e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.78459334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.065336195 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.01, Z:-0.01 [[ 0.99991986 0.01265993 0. 9.2634692 ] [-0.01265993 0.99991986 0. -0.0109779 ] [ 0. 0. 1. -0.01351186] [ 0. 0. 0. 1. ]] SLAMing on 9.095336195 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.01, Z:-0.02 [[ 0.99993452 0.01144334 0. 9.29282491] [-0.01144334 0.99993452 0. -0.01011422] [ 0. 0. 1. -0.01559083] [ 0. 0. 0. 1. ]] SLAMing on 9.125336195 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.01, Z:-0.02 [[ 9.99947556e-01 1.02413858e-02 0.00000000e+00 9.32090347e+00] [-1.02413858e-02 9.99947556e-01 0.00000000e+00 -8.40548763e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70154124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.155336195 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.01, Z:-0.01 [[ 9.99949605e-01 1.00393167e-02 0.00000000e+00 9.34940887e+00] [-1.00393167e-02 9.99949605e-01 0.00000000e+00 -6.96431981e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41785091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.185336195 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.00, Z:-0.01 [[ 9.99954980e-01 9.48882819e-03 0.00000000e+00 9.37718355e+00] [-9.48882819e-03 9.99954980e-01 0.00000000e+00 -4.37207194e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05000390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.215336194999999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.01, Z:-0.01 [[ 9.99955061e-01 9.48027519e-03 0.00000000e+00 9.40563840e+00] [-9.48027519e-03 9.99955061e-01 0.00000000e+00 -5.80982332e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63533906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.01, Z:-0.00 [[ 9.99954739e-01 9.51415236e-03 0.00000000e+00 9.43374534e+00] [-9.51415236e-03 9.99954739e-01 0.00000000e+00 -6.35491458e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80344687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.275336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.00, Z:-0.00 [[ 9.99957331e-01 9.23775063e-03 0.00000000e+00 9.46143973e+00] [-9.23775063e-03 9.99957331e-01 0.00000000e+00 -4.71212354e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16947033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.305336194999999 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:9.49, Y:0.00, Z:-0.00 [[ 9.99968015e-01 7.99800449e-03 0.00000000e+00 9.48824018e+00] [-7.99800449e-03 9.99968015e-01 0.00000000e+00 2.37861670e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18442730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.335336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:9.52, Y:0.01, Z:0.00 [[ 9.99970751e-01 7.64831832e-03 0.00000000e+00 9.51621850e+00] [-7.64831832e-03 9.99970751e-01 0.00000000e+00 5.41815627e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14711829e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.365336195 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:9.54, Y:0.00, Z:-0.01 [[ 9.99980911e-01 6.17873664e-03 0.00000000e+00 9.54401952e+00] [-6.17873664e-03 9.99980911e-01 0.00000000e+00 4.28934032e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.39913925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.395336194999999 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:9.57, Y:0.00, Z:-0.01 [[ 9.99989919e-01 4.49009163e-03 0.00000000e+00 9.57277157e+00] [-4.49009163e-03 9.99989919e-01 0.00000000e+00 2.96376765e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36077863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.425336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:9.60, Y:0.00, Z:-0.01 [[ 9.99999731e-01 -7.33409308e-04 0.00000000e+00 9.60132502e+00] [ 7.33409308e-04 9.99999731e-01 0.00000000e+00 4.79070198e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33353839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.455336195 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:9.63, Y:0.01, Z:-0.01 [[ 9.99952949e-01 -9.70051945e-03 0.00000000e+00 9.63262811e+00] [ 9.70051945e-03 9.99952949e-01 0.00000000e+00 8.83732165e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33677707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.485336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:9.66, Y:0.01, Z:-0.00 [[ 9.99894019e-01 -1.45584991e-02 0.00000000e+00 9.66454223e+00] [ 1.45584991e-02 9.99894019e-01 0.00000000e+00 1.19402801e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33114843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.515336195 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:9.70, Y:0.01, Z:-0.01 [[ 0.99974089 -0.02276276 0. 9.69669054] [ 0.02276276 0.99974089 0. 0.01233063] [ 0. 0. 1. -0.01010728] [ 0. 0. 0. 1. ]] SLAMing on 9.545336194999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:9.73, Y:0.01, Z:-0.02 [[ 9.99664732e-01 -2.58925570e-02 0.00000000e+00 9.72861016e+00] [ 2.58925570e-02 9.99664732e-01 0.00000000e+00 5.89959303e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73999086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.575336195 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.00, Z:-0.02 [[ 9.99593118e-01 -2.85236437e-02 0.00000000e+00 9.76113533e+00] [ 2.85236437e-02 9.99593118e-01 0.00000000e+00 -4.58977424e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19277404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.605336195 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.00, Z:-0.02 [[ 9.99649227e-01 -2.64843899e-02 0.00000000e+00 9.79315822e+00] [ 2.64843899e-02 9.99649227e-01 0.00000000e+00 -1.79216201e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77384476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.635336194999999 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:9.83, Y:0.00, Z:-0.01 [[ 9.99690365e-01 -2.48832156e-02 0.00000000e+00 9.82652139e+00] [ 2.48832156e-02 9.99690365e-01 0.00000000e+00 7.97169580e-05] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29722472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.665336195 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.00, Z:-0.01 [[ 9.99782078e-01 -2.08757231e-02 0.00000000e+00 9.85913271e+00] [ 2.08757231e-02 9.99782078e-01 0.00000000e+00 -5.96274618e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.03780930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.695336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.01, Z:-0.01 [[ 0.9998568 -0.01692289 0. 9.89127863] [ 0.01692289 0.9998568 0. -0.01001416] [ 0. 0. 1. -0.01416896] [ 0. 0. 0. 1. ]] SLAMing on 9.725336194999999 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.01, Z:-0.02 [[ 0.9998799 -0.01549803 0. 9.92376538] [ 0.01549803 0.9998799 0. -0.01478512] [ 0. 0. 1. -0.01500274] [ 0. 0. 0. 1. ]] SLAMing on 9.755336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.02, Z:-0.01 [[ 0.9998984 -0.01425413 0. 9.95709984] [ 0.01425413 0.9998984 0. -0.01925501] [ 0. 0. 1. -0.0129106 ] [ 0. 0. 0. 1. ]] SLAMing on 9.785336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.02, Z:-0.01 [[ 0.99991998 -0.01265061 0. 9.98920101] [ 0.01265061 0.99991998 0. -0.02099069] [ 0. 0. 1. -0.01170953] [ 0. 0. 0. 1. ]] SLAMing on 9.815336195 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.02, Z:-0.01 [[ 9.99961007e-01 -8.83091953e-03 0.00000000e+00 1.00204587e+01] [ 8.83091953e-03 9.99961007e-01 0.00000000e+00 -2.21394630e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29539579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.845336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.02, Z:-0.01 [[ 9.99984126e-01 -5.63449882e-03 0.00000000e+00 1.00522367e+01] [ 5.63449882e-03 9.99984126e-01 0.00000000e+00 -2.43857884e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38773094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.875336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.03, Z:-0.02 [[ 9.99995499e-01 3.00045385e-03 0.00000000e+00 1.00843083e+01] [-3.00045385e-03 9.99995499e-01 0.00000000e+00 -2.91690871e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72075963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.905336195 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.03, Z:-0.02 [[ 0.99991539 0.01300801 0. 10.11208095] [-0.01300801 0.99991539 0. -0.0335138 ] [ 0. 0. 1. -0.02220818] [ 0. 0. 0. 1. ]] SLAMing on 9.935336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.03, Z:-0.02 [[ 0.99980017 0.01999064 0. 10.1390639 ] [-0.01999064 0.99980017 0. -0.03332221] [ 0. 0. 1. -0.02036292] [ 0. 0. 0. 1. ]] SLAMing on 9.965336194999999 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.03, Z:-0.01 [[ 0.99975361 0.02219714 0. 10.16620883] [-0.02219714 0.99975361 0. -0.02659325] [ 0. 0. 1. -0.01426189] [ 0. 0. 0. 1. ]] SLAMing on 9.995336195 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.01, Z:-0.01 [[ 9.99709199e-01 2.41146789e-02 0.00000000e+00 1.01948169e+01] [-2.41146789e-02 9.99709199e-01 0.00000000e+00 -1.37940625e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.40470107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.025336195 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.01, Z:-0.01 [[ 0.99973084 0.02320006 0. 10.22134236] [-0.02320006 0.99973084 0. -0.01491659] [ 0. 0. 1. -0.01059576] [ 0. 0. 0. 1. ]] SLAMing on 10.055336194999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.02, Z:-0.02 [[ 0.99977309 0.02130199 0. 10.24900907] [-0.02130199 0.99977309 0. -0.01970501] [ 0. 0. 1. -0.01885095] [ 0. 0. 0. 1. ]] SLAMing on 10.085336195 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.02, Z:-0.02 [[ 0.99982073 0.01893427 0. 10.27699536] [-0.01893427 0.99982073 0. -0.01875027] [ 0. 0. 1. -0.01960956] [ 0. 0. 0. 1. ]] SLAMing on 10.115336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.01, Z:-0.02 [[ 0.99991549 0.01300031 0. 10.30484859] [-0.01300031 0.99991549 0. -0.01237551] [ 0. 0. 1. -0.02327484] [ 0. 0. 0. 1. ]] SLAMing on 10.145336194999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.01, Z:-0.02 [[ 9.99954840e-01 9.50358621e-03 0.00000000e+00 1.03341435e+01] [-9.50358621e-03 9.99954840e-01 0.00000000e+00 -9.65885730e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44441305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.175336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.01, Z:-0.02 [[ 9.99997583e-01 2.19881618e-03 0.00000000e+00 1.03627589e+01] [-2.19881618e-03 9.99997583e-01 0.00000000e+00 -7.48605982e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67856380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.205336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.01, Z:-0.02 [[ 9.99984252e-01 -5.61218335e-03 0.00000000e+00 1.03918030e+01] [ 5.61218335e-03 9.99984252e-01 0.00000000e+00 -1.37189887e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90302873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.235336195 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.02, Z:-0.02 [[ 9.99956865e-01 -9.28804913e-03 0.00000000e+00 1.04248841e+01] [ 9.28804913e-03 9.99956865e-01 0.00000000e+00 -1.55081306e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77617614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.265336195 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.01, Z:-0.01 [[ 9.99845669e-01 -1.75680875e-02 0.00000000e+00 1.04578810e+01] [ 1.75680875e-02 9.99845669e-01 0.00000000e+00 -8.29676847e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.95809471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.295336194999999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.01, Z:-0.02 [[ 9.99690948e-01 -2.48597726e-02 0.00000000e+00 1.04893731e+01] [ 2.48597726e-02 9.99690948e-01 0.00000000e+00 -6.97683812e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68563984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.325336195 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.01, Z:-0.02 [[ 0.99962206 -0.0274906 0. 10.52130519] [ 0.0274906 0.99962206 0. -0.01264059] [ 0. 0. 1. -0.02207302] [ 0. 0. 0. 1. ]] SLAMing on 10.355336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.03, Z:-0.03 [[ 0.99956532 -0.02948172 0. 10.55217559] [ 0.02948172 0.99956532 0. -0.02547911] [ 0. 0. 1. -0.03058797] [ 0. 0. 0. 1. ]] SLAMing on 10.385336194999999 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.03, Z:-0.03 [[ 0.99957275 -0.02922866 0. 10.58538703] [ 0.02922866 0.99957275 0. -0.03094815] [ 0. 0. 1. -0.03079051] [ 0. 0. 0. 1. ]] SLAMing on 10.415336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.03, Z:-0.02 [[ 0.99968516 -0.02509164 0. 10.61738678] [ 0.02509164 0.99968516 0. -0.03277178] [ 0. 0. 1. -0.02058656] [ 0. 0. 0. 1. ]] SLAMing on 10.445336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.03, Z:-0.02 [[ 0.9996897 -0.02491007 0. 10.6510391 ] [ 0.02491007 0.9996897 0. -0.03348726] [ 0. 0. 1. -0.02058656] [ 0. 0. 0. 1. ]] SLAMing on 10.475336194999999 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.03, Z:-0.01 [[ 0.9997741 -0.02125422 0. 10.68256724] [ 0.02125422 0.9997741 0. -0.03017681] [ 0. 0. 1. -0.01210998] [ 0. 0. 0. 1. ]] SLAMing on 10.505336195 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.03, Z:-0.00 [[ 9.99903494e-01 -1.38925601e-02 0.00000000e+00 1.07138370e+01] [ 1.38925601e-02 9.99903494e-01 0.00000000e+00 -2.85431100e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87050662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.535336195 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.04, Z:-0.01 [[ 9.99979730e-01 -6.36712481e-03 0.00000000e+00 1.07464550e+01] [ 6.36712481e-03 9.99979730e-01 0.00000000e+00 -3.55414629e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11887040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.565336194999999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.04, Z:-0.02 [[ 9.99997234e-01 -2.35190714e-03 0.00000000e+00 1.07786853e+01] [ 2.35190714e-03 9.99997234e-01 0.00000000e+00 -3.90289273e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50473593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.595336195 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.04, Z:-0.02 [[ 9.99996438e-01 2.66922447e-03 0.00000000e+00 1.08100227e+01] [-2.66922447e-03 9.99996438e-01 0.00000000e+00 -3.79368240e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60938796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.625336195 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.03, Z:-0.01 [[ 9.99987053e-01 5.08852866e-03 0.00000000e+00 1.08376986e+01] [-5.08852866e-03 9.99987053e-01 0.00000000e+00 -3.17666315e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39065118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.655336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.03, Z:-0.01 [[ 9.99985993e-01 5.29275721e-03 0.00000000e+00 1.08669622e+01] [-5.29275721e-03 9.99985993e-01 0.00000000e+00 -2.95337308e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10412797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.685336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.03, Z:-0.01 [[ 9.99992938e-01 3.75819648e-03 0.00000000e+00 1.08956002e+01] [-3.75819648e-03 9.99992938e-01 0.00000000e+00 -3.14198114e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08396708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.715336194999999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.04, Z:-0.02 [[ 9.99998142e-01 1.92767305e-03 0.00000000e+00 1.09229700e+01] [-1.92767305e-03 9.99998142e-01 0.00000000e+00 -4.21690487e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14735456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.745336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.05, Z:-0.02 [[ 9.99999469e-01 1.03024822e-03 0.00000000e+00 1.09512343e+01] [-1.03024822e-03 9.99999469e-01 0.00000000e+00 -4.51507255e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30342075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.775336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.04, Z:-0.02 [[ 9.99999620e-01 -8.71591933e-04 0.00000000e+00 1.09808729e+01] [ 8.71591933e-04 9.99999620e-01 0.00000000e+00 -4.30050518e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98888328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.805336194999999 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.04, Z:-0.02 [[ 9.99998814e-01 -1.54014882e-03 0.00000000e+00 1.10108928e+01] [ 1.54014882e-03 9.99998814e-01 0.00000000e+00 -4.20624737e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89720128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.835336195 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.05, Z:-0.02 [[ 9.99995793e-01 -2.90076216e-03 0.00000000e+00 1.10417809e+01] [ 2.90076216e-03 9.99995793e-01 0.00000000e+00 -4.56382064e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70632086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.865336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.06, Z:-0.02 [[ 9.99980141e-01 -6.30216944e-03 0.00000000e+00 1.10727376e+01] [ 6.30216944e-03 9.99980141e-01 0.00000000e+00 -5.81366496e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80536842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.895336194999999 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.07, Z:-0.02 [[ 0.99992241 -0.01245674 0. 11.10498687] [ 0.01245674 0.99992241 0. -0.06719533] [ 0. 0. 1. -0.01681088] [ 0. 0. 0. 1. ]] SLAMing on 10.925336195 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.07, Z:-0.01 [[ 0.99988465 -0.01518836 0. 11.13833232] [ 0.01518836 0.99988465 0. -0.06776333] [ 0. 0. 1. -0.01148306] [ 0. 0. 0. 1. ]] SLAMing on 10.955336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.07, Z:-0.01 [[ 9.99813306e-01 -1.93223263e-02 0.00000000e+00 1.11711549e+01] [ 1.93223263e-02 9.99813306e-01 0.00000000e+00 -6.99089146e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.73560678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.985336195 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.07, Z:-0.01 [[ 9.99811087e-01 -1.94368348e-02 0.00000000e+00 1.12035819e+01] [ 1.94368348e-02 9.99811087e-01 0.00000000e+00 -7.40418466e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.00948219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.015336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.08, Z:-0.02 [[ 0.99987647 -0.0157174 0. 11.23595834] [ 0.0157174 0.99987647 0. -0.08431354] [ 0. 0. 1. -0.01582809] [ 0. 0. 0. 1. ]] SLAMing on 11.045336194999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.09, Z:-0.02 [[ 9.99964692e-01 -8.40329734e-03 0.00000000e+00 1.12686179e+01] [ 8.40329734e-03 9.99964692e-01 0.00000000e+00 -9.09039562e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11360224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.075336195 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.09, Z:-0.02 [[ 9.99990530e-01 -4.35209032e-03 0.00000000e+00 1.12993230e+01] [ 4.35209032e-03 9.99990530e-01 0.00000000e+00 -9.25675654e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26915418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.105336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.09, Z:-0.02 [[ 9.99996403e-01 2.68233192e-03 0.00000000e+00 1.13309278e+01] [-2.68233192e-03 9.99996403e-01 0.00000000e+00 -9.40131502e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57033935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.135336194999999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.09, Z:-0.01 [[ 9.99987357e-01 5.02851685e-03 0.00000000e+00 1.13600838e+01] [-5.02851685e-03 9.99987357e-01 0.00000000e+00 -9.43535412e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05466075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.165336195 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.10, Z:-0.01 [[ 9.99965504e-01 8.30611054e-03 0.00000000e+00 1.13876443e+01] [-8.30611054e-03 9.99965504e-01 0.00000000e+00 -1.00046374e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.84978625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.195336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.11, Z:-0.01 [[ 9.99943342e-01 1.06448079e-02 0.00000000e+00 1.14157599e+01] [-1.06448079e-02 9.99943342e-01 0.00000000e+00 -1.08211434e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.21078909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.225336194999999 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.11, Z:-0.01 [[ 9.99925643e-01 1.21946197e-02 0.00000000e+00 1.14430454e+01] [-1.21946197e-02 9.99925643e-01 0.00000000e+00 -1.08363933e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.54554329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.255336195 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.11, Z:-0.01 [[ 9.99888330e-01 1.49441232e-02 0.00000000e+00 1.14723333e+01] [-1.49441232e-02 9.99888330e-01 0.00000000e+00 -1.07773065e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.73217248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.285336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.11, Z:-0.01 [[ 0.99984211 0.01776955 0. 11.49970319] [-0.01776955 0.99984211 0. -0.11288288] [ 0. 0. 1. -0.01438307] [ 0. 0. 0. 1. ]] SLAMing on 11.315336194999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.12, Z:-0.02 [[ 0.99981243 0.01936762 0. 11.52799408] [-0.01936762 0.99981243 0. -0.11567998] [ 0. 0. 1. -0.01544127] [ 0. 0. 0. 1. ]] SLAMing on 11.345336195 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.12, Z:-0.02 [[ 0.9998338 0.01823111 0. 11.55620056] [-0.01823111 0.9998338 0. -0.11814901] [ 0. 0. 1. -0.01508872] [ 0. 0. 0. 1. ]] SLAMing on 11.375336195 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.13, Z:-0.01 [[ 0.99990776 0.01358208 0. 11.58451394] [-0.01358208 0.99990776 0. -0.1267699 ] [ 0. 0. 1. -0.01348455] [ 0. 0. 0. 1. ]] SLAMing on 11.405336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.13, Z:-0.01 [[ 9.99942856e-01 1.06904436e-02 0.00000000e+00 1.16122239e+01] [-1.06904436e-02 9.99942856e-01 0.00000000e+00 -1.28891492e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10528001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.435336195 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.13, Z:-0.00 [[ 9.99986732e-01 5.15136270e-03 0.00000000e+00 1.16414948e+01] [-5.15136270e-03 9.99986732e-01 0.00000000e+00 -1.28216524e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34261541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.465336194999999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.13, Z:-0.00 [[ 9.99999695e-01 7.80892324e-04 0.00000000e+00 1.16693387e+01] [-7.80892324e-04 9.99999695e-01 0.00000000e+00 -1.33896998e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75334487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.495336195 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.14, Z:-0.01 [[ 9.99999879e-01 4.91528250e-04 0.00000000e+00 1.16984683e+01] [-4.91528250e-04 9.99999879e-01 0.00000000e+00 -1.39179629e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.78477507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.525336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.14, Z:-0.01 [[ 9.99995842e-01 2.88360568e-03 0.00000000e+00 1.17289592e+01] [-2.88360568e-03 9.99995842e-01 0.00000000e+00 -1.43516947e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.90860424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.555336194999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.14, Z:-0.01 [[ 9.99976397e-01 6.87055372e-03 0.00000000e+00 1.17563571e+01] [-6.87055372e-03 9.99976397e-01 0.00000000e+00 -1.39418716e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.18528321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.585336195 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.14, Z:-0.01 [[ 9.99961790e-01 8.74172376e-03 0.00000000e+00 1.17844019e+01] [-8.74172376e-03 9.99961790e-01 0.00000000e+00 -1.38116121e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.85909684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.615336195 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.14, Z:-0.01 [[ 9.99939663e-01 1.09849823e-02 0.00000000e+00 1.18134293e+01] [-1.09849823e-02 9.99939663e-01 0.00000000e+00 -1.39978155e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29876514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.645336194999999 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.14, Z:-0.01 [[ 9.99931751e-01 1.16830649e-02 0.00000000e+00 1.18402257e+01] [-1.16830649e-02 9.99931751e-01 0.00000000e+00 -1.40342823e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.44231141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.675336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.14, Z:-0.01 [[ 0.99992277 0.01242811 0. 11.86852861] [-0.01242811 0.99992277 0. -0.13910712] [ 0. 0. 1. -0.01493306] [ 0. 0. 0. 1. ]] SLAMing on 11.705336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.14, Z:-0.01 [[ 0.99992804 0.01199605 0. 11.895885 ] [-0.01199605 0.99992804 0. -0.13658317] [ 0. 0. 1. -0.0143241 ] [ 0. 0. 0. 1. ]] SLAMing on 11.735336195 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.13, Z:-0.01 [[ 9.99932984e-01 1.15770080e-02 0.00000000e+00 1.19251684e+01] [-1.15770080e-02 9.99932984e-01 0.00000000e+00 -1.34880619e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21855654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.765336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.13, Z:-0.01 [[ 9.99959057e-01 9.04900524e-03 0.00000000e+00 1.19537971e+01] [-9.04900524e-03 9.99959057e-01 0.00000000e+00 -1.34864221e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31674789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.795336194999999 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.14, Z:-0.02 [[ 9.99979903e-01 6.33985093e-03 0.00000000e+00 1.19820703e+01] [-6.33985093e-03 9.99979903e-01 0.00000000e+00 -1.36109995e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54232205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.13, Z:-0.01 [[ 9.99996731e-01 -2.55698735e-03 0.00000000e+00 1.20110321e+01] [ 2.55698735e-03 9.99996731e-01 0.00000000e+00 -1.34635413e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43352987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.855336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.14, Z:-0.02 [[ 9.99941502e-01 -1.08163154e-02 0.00000000e+00 1.20432720e+01] [ 1.08163154e-02 9.99941502e-01 0.00000000e+00 -1.37818056e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87607632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.885336194999999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.14, Z:-0.02 [[ 0.99989531 -0.01446989 0. 12.07495561] [ 0.01446989 0.99989531 0. -0.14370305] [ 0. 0. 1. -0.02390854] [ 0. 0. 0. 1. ]] SLAMing on 11.915336195 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.15, Z:-0.02 [[ 0.99982817 -0.01853728 0. 12.10663579] [ 0.01853728 0.99982817 0. -0.14922495] [ 0. 0. 1. -0.01840446] [ 0. 0. 0. 1. ]] SLAMing on 11.945336195 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.15, Z:-0.01 [[ 9.99822403e-01 -1.88457327e-02 0.00000000e+00 1.21380352e+01] [ 1.88457327e-02 9.99822403e-01 0.00000000e+00 -1.46717905e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04310599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.975336194999999 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.15, Z:-0.00 [[ 9.99875673e-01 -1.57682778e-02 0.00000000e+00 1.21700624e+01] [ 1.57682778e-02 9.99875673e-01 0.00000000e+00 -1.45220470e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54652332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.005336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.15, Z:-0.01 [[ 9.99942336e-01 -1.07389075e-02 0.00000000e+00 1.22012303e+01] [ 1.07389075e-02 9.99942336e-01 0.00000000e+00 -1.54894255e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34778611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.035336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.16, Z:-0.02 [[ 9.99968313e-01 -7.96074425e-03 0.00000000e+00 1.22321237e+01] [ 7.96074425e-03 9.99968313e-01 0.00000000e+00 -1.57813125e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53300189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.065336194999999 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.16, Z:-0.01 [[ 9.99976856e-01 -6.80354740e-03 0.00000000e+00 1.22630853e+01] [ 6.80354740e-03 9.99976856e-01 0.00000000e+00 -1.56066912e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26488982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.095336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.15, Z:-0.01 [[ 9.99990771e-01 -4.29632324e-03 0.00000000e+00 1.22951251e+01] [ 4.29632324e-03 9.99990771e-01 0.00000000e+00 -1.54956217e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.32119327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.125336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.16, Z:-0.01 [[ 9.99996204e-01 -2.75540947e-03 0.00000000e+00 1.23259925e+01] [ 2.75540947e-03 9.99996204e-01 0.00000000e+00 -1.58104805e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11795028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.155336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.16, Z:-0.01 [[ 9.99999950e-01 3.16129133e-04 0.00000000e+00 1.23584904e+01] [-3.16129133e-04 9.99999950e-01 0.00000000e+00 -1.64341386e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35225837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.185336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.17, Z:-0.01 [[ 9.99993594e-01 3.57924208e-03 0.00000000e+00 1.23879273e+01] [-3.57924208e-03 9.99993594e-01 0.00000000e+00 -1.65168520e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09322398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.215336194999999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.17, Z:-0.01 [[ 9.99990000e-01 4.47212954e-03 0.00000000e+00 1.24158877e+01] [-4.47212954e-03 9.99990000e-01 0.00000000e+00 -1.65317788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12707717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.245336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.16, Z:-0.01 [[ 9.99988041e-01 4.89057861e-03 0.00000000e+00 1.24451346e+01] [-4.89057861e-03 9.99988041e-01 0.00000000e+00 -1.64119024e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13323443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.275336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.16, Z:-0.01 [[ 9.99987877e-01 4.92398451e-03 0.00000000e+00 1.24740655e+01] [-4.92398451e-03 9.99987877e-01 0.00000000e+00 -1.63311997e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01577273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.305336194999999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.16, Z:-0.01 [[ 9.99988024e-01 4.89403728e-03 0.00000000e+00 1.25020362e+01] [-4.89403728e-03 9.99988024e-01 0.00000000e+00 -1.62728397e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.31972259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.335336195 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.16, Z:-0.01 [[ 9.99987312e-01 5.03735947e-03 0.00000000e+00 1.25310643e+01] [-5.03735947e-03 9.99987312e-01 0.00000000e+00 -1.64137724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29614239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.365336195 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.16, Z:-0.01 [[ 9.99987537e-01 4.99251016e-03 0.00000000e+00 1.25603583e+01] [-4.99251016e-03 9.99987537e-01 0.00000000e+00 -1.64570497e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29614239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.395336194999999 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.17, Z:-0.02 [[ 9.99982049e-01 5.99187588e-03 0.00000000e+00 1.25877644e+01] [-5.99187588e-03 9.99982049e-01 0.00000000e+00 -1.67949434e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53158412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.17, Z:-0.02 [[ 9.99975325e-01 7.02484235e-03 0.00000000e+00 1.26159389e+01] [-7.02484235e-03 9.99975325e-01 0.00000000e+00 -1.74626238e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62388557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.455336195 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.17, Z:-0.01 [[ 9.99970213e-01 7.71839144e-03 0.00000000e+00 1.26441289e+01] [-7.71839144e-03 9.99970213e-01 0.00000000e+00 -1.72971613e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42577031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.485336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.16, Z:-0.01 [[ 9.99953319e-01 9.66233654e-03 0.00000000e+00 1.26734779e+01] [-9.66233654e-03 9.99953319e-01 0.00000000e+00 -1.62850864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.15898738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.515336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.16, Z:-0.01 [[ 9.99946712e-01 1.03234748e-02 0.00000000e+00 1.27018316e+01] [-1.03234748e-02 9.99946712e-01 0.00000000e+00 -1.58265469e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.59549876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.545336194999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.16, Z:-0.01 [[ 9.99946463e-01 1.03474871e-02 0.00000000e+00 1.27299630e+01] [-1.03474871e-02 9.99946463e-01 0.00000000e+00 -1.57450618e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.45447489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.575336195 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.16, Z:-0.01 [[ 9.99954889e-01 9.49841941e-03 0.00000000e+00 1.27583229e+01] [-9.49841941e-03 9.99954889e-01 0.00000000e+00 -1.55546235e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13387264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.605336195 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.16, Z:-0.02 [[ 9.99980582e-01 6.23185888e-03 0.00000000e+00 1.27875931e+01] [-6.23185888e-03 9.99980582e-01 0.00000000e+00 -1.57200611e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85509899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.635336194999999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.16, Z:-0.02 [[ 9.99993102e-01 3.71420130e-03 0.00000000e+00 1.28150971e+01] [-3.71420130e-03 9.99993102e-01 0.00000000e+00 -1.55369234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91641337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.665336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.14, Z:-0.01 [[ 9.99995852e-01 -2.88015023e-03 0.00000000e+00 1.28435836e+01] [ 2.88015023e-03 9.99995852e-01 0.00000000e+00 -1.43046920e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14768088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.695336195 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.14, Z:-0.01 [[ 9.99977795e-01 -6.66404315e-03 0.00000000e+00 1.28760084e+01] [ 6.66404315e-03 9.99977795e-01 0.00000000e+00 -1.39435165e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.75559533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.725336194999999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.14, Z:-0.01 [[ 9.99909328e-01 -1.34661037e-02 0.00000000e+00 1.29081775e+01] [ 1.34661037e-02 9.99909328e-01 0.00000000e+00 -1.41963259e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.99129663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.755336195 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.14, Z:-0.01 [[ 9.99876460e-01 -1.57183185e-02 0.00000000e+00 1.29394315e+01] [ 1.57183185e-02 9.99876460e-01 0.00000000e+00 -1.44407938e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09603764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.785336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.14, Z:-0.01 [[ 9.99860459e-01 -1.67051546e-02 0.00000000e+00 1.29719947e+01] [ 1.67051546e-02 9.99860459e-01 0.00000000e+00 -1.44622430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25302414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.815336194999999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.14, Z:-0.01 [[ 0.99987831 -0.0156003 0. 13.00331899] [ 0.0156003 0.99987831 0. -0.14017692] [ 0. 0. 1. -0.01316426] [ 0. 0. 0. 1. ]] SLAMing on 12.845336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.14, Z:-0.01 [[ 9.99886533e-01 -1.50639065e-02 0.00000000e+00 1.30361273e+01] [ 1.50639065e-02 9.99886533e-01 0.00000000e+00 -1.37289316e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25812978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.875336195 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.13, Z:-0.02 [[ 0.99988789 -0.01497358 0. 13.06773781] [ 0.01497358 0.99988789 0. -0.13334185] [ 0. 0. 1. -0.01567943] [ 0. 0. 0. 1. ]] SLAMing on 12.905336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.14, Z:-0.02 [[ 0.99982113 -0.01891319 0. 13.09886636] [ 0.01891319 0.99982113 0. -0.13748886] [ 0. 0. 1. -0.01750173] [ 0. 0. 0. 1. ]] SLAMing on 12.935336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.14, Z:-0.02 [[ 0.99976886 -0.02149934 0. 13.13059406] [ 0.02149934 0.99976886 0. -0.14319664] [ 0. 0. 1. -0.01825297] [ 0. 0. 0. 1. ]] SLAMing on 12.965336194999999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.15, Z:-0.02 [[ 0.99961872 -0.02761192 0. 13.16225657] [ 0.02761192 0.99961872 0. -0.15172046] [ 0. 0. 1. -0.01696811] [ 0. 0. 0. 1. ]] SLAMing on 12.995336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:13.19, Y:-0.15, Z:-0.01 [[ 9.99507358e-01 -3.13853691e-02 0.00000000e+00 1.31929854e+01] [ 3.13853691e-02 9.99507358e-01 0.00000000e+00 -1.51709593e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.00574894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.025336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.15, Z:-0.01 [[ 9.99508325e-01 -3.13545549e-02 0.00000000e+00 1.32251718e+01] [ 3.13545549e-02 9.99508325e-01 0.00000000e+00 -1.51420394e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.33372837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.055336194999999 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.15, Z:-0.01 [[ 9.99648884e-01 -2.64973203e-02 0.00000000e+00 1.32568490e+01] [ 2.64973203e-02 9.99648884e-01 0.00000000e+00 -1.54100540e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.68779030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.085336195 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.16, Z:-0.01 [[ 9.99762393e-01 -2.17981213e-02 0.00000000e+00 1.32883735e+01] [ 2.17981213e-02 9.99762393e-01 0.00000000e+00 -1.58500517e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14902585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.115336195 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:13.32, Y:-0.17, Z:-0.02 [[ 9.99950578e-01 -9.94193223e-03 0.00000000e+00 1.33204014e+01] [ 9.94193223e-03 9.99950578e-01 0.00000000e+00 -1.68737320e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64779079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.145336194999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.17, Z:-0.02 [[ 9.99991904e-01 -4.02383257e-03 0.00000000e+00 1.33516846e+01] [ 4.02383257e-03 9.99991904e-01 0.00000000e+00 -1.73274092e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60111560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.38, Y:-0.17, Z:-0.01 [[ 9.99989366e-01 4.61165108e-03 0.00000000e+00 1.33830120e+01] [-4.61165108e-03 9.99989366e-01 0.00000000e+00 -1.73270516e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24011574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.205336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.17, Z:-0.01 [[ 9.99971284e-01 7.57829301e-03 0.00000000e+00 1.34106950e+01] [-7.57829301e-03 9.99971284e-01 0.00000000e+00 -1.69635566e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.81759400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.235336194999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:13.44, Y:-0.16, Z:0.00 [[ 9.99935168e-01 1.13868234e-02 0.00000000e+00 1.34381204e+01] [-1.13868234e-02 9.99935168e-01 0.00000000e+00 -1.61055071e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47737373e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.265336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.17, Z:-0.00 [[ 9.99893081e-01 1.46227883e-02 0.00000000e+00 1.34669622e+01] [-1.46227883e-02 9.99893081e-01 0.00000000e+00 -1.69990861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58702970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.295336194999999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.18, Z:-0.02 [[ 0.99986846 0.01621912 0. 13.49457265] [-0.01621912 0.99986846 0. -0.18364307] [ 0. 0. 1. -0.01640467] [ 0. 0. 0. 1. ]] SLAMing on 13.325336195 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.18, Z:-0.02 [[ 0.99987034 0.01610276 0. 13.52304837] [-0.01610276 0.99987034 0. -0.18295819] [ 0. 0. 1. -0.01535714] [ 0. 0. 0. 1. ]] SLAMing on 13.355336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.17, Z:-0.01 [[ 9.99888504e-01 1.49325247e-02 0.00000000e+00 1.35513933e+01] [-1.49325247e-02 9.99888504e-01 0.00000000e+00 -1.73468032e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01727619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.385336194999999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.17, Z:-0.01 [[ 9.99902271e-01 1.39802882e-02 0.00000000e+00 1.35800785e+01] [-1.39802882e-02 9.99902271e-01 0.00000000e+00 -1.70920202e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.18412081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.415336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.17, Z:-0.01 [[ 9.99937691e-01 1.11630552e-02 0.00000000e+00 1.36090394e+01] [-1.11630552e-02 9.99937691e-01 0.00000000e+00 -1.73998573e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12557436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.445336195 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.18, Z:-0.01 [[ 9.99958234e-01 9.13943685e-03 0.00000000e+00 1.36370733e+01] [-9.13943685e-03 9.99958234e-01 0.00000000e+00 -1.79345161e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41308115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.475336194999999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.19, Z:-0.01 [[ 9.99988399e-01 4.81692960e-03 0.00000000e+00 1.36644497e+01] [-4.81692960e-03 9.99988399e-01 0.00000000e+00 -1.87617509e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46590529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.505336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.19, Z:-0.01 [[ 9.99999999e-01 4.23090520e-05 0.00000000e+00 1.36930062e+01] [-4.23090520e-05 9.99999999e-01 0.00000000e+00 -1.85813508e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.44841011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.535336195 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.18, Z:-0.01 [[ 9.99998493e-01 -1.73613617e-03 0.00000000e+00 1.37237342e+01] [ 1.73613617e-03 9.99998493e-01 0.00000000e+00 -1.83643052e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41041392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.565336194999999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.19, Z:-0.01 [[ 9.99993030e-01 -3.73372247e-03 0.00000000e+00 1.37552180e+01] [ 3.73372247e-03 9.99993030e-01 0.00000000e+00 -1.85013188e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25875068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.595336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.19, Z:-0.01 [[ 9.99994903e-01 -3.19269388e-03 0.00000000e+00 1.37874049e+01] [ 3.19269388e-03 9.99994903e-01 0.00000000e+00 -1.88864884e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01514186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.625336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.19, Z:-0.01 [[ 9.99999978e-01 -2.09766180e-04 0.00000000e+00 1.38189143e+01] [ 2.09766180e-04 9.99999978e-01 0.00000000e+00 -1.93430164e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36548913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.655336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.19, Z:-0.01 [[ 9.99991969e-01 4.00781437e-03 0.00000000e+00 1.38492502e+01] [-4.00781437e-03 9.99991969e-01 0.00000000e+00 -1.93678979e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31380461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.685336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.19, Z:-0.01 [[ 9.99981790e-01 6.03495207e-03 0.00000000e+00 1.38774190e+01] [-6.03495207e-03 9.99981790e-01 0.00000000e+00 -1.91616335e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02033395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.715336194999999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.18, Z:-0.00 [[ 9.99954090e-01 9.58219080e-03 0.00000000e+00 1.39055717e+01] [-9.58219080e-03 9.99954090e-01 0.00000000e+00 -1.84536691e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59429282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.745336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.19, Z:-0.01 [[ 9.99944875e-01 1.04998730e-02 0.00000000e+00 1.39342146e+01] [-1.04998730e-02 9.99944875e-01 0.00000000e+00 -1.87377463e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02803497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.775336195 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.19, Z:-0.01 [[ 9.99953518e-01 9.64170901e-03 0.00000000e+00 1.39623079e+01] [-9.64170901e-03 9.99953518e-01 0.00000000e+00 -1.90469339e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45364998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.805336194999999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.19, Z:-0.02 [[ 9.99973055e-01 7.34097300e-03 0.00000000e+00 1.39898523e+01] [-7.34097300e-03 9.99973055e-01 0.00000000e+00 -1.89384440e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76083312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.835336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.19, Z:-0.02 [[ 9.99979006e-01 6.47981360e-03 0.00000000e+00 1.40183975e+01] [-6.47981360e-03 9.99979006e-01 0.00000000e+00 -1.87096610e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67908891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.865336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.18, Z:-0.01 [[ 9.99986803e-01 5.13757014e-03 0.00000000e+00 1.40469595e+01] [-5.13757014e-03 9.99986803e-01 0.00000000e+00 -1.81881378e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31005832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.895336194999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.18, Z:-0.01 [[ 9.99987651e-01 4.96972719e-03 0.00000000e+00 1.40756230e+01] [-4.96972719e-03 9.99987651e-01 0.00000000e+00 -1.82101122e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21106806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.925336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.18, Z:-0.01 [[ 9.99988860e-01 4.72011635e-03 0.00000000e+00 1.41048385e+01] [-4.72011635e-03 9.99988860e-01 0.00000000e+00 -1.84334775e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33448789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.955336195 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.18, Z:-0.01 [[ 9.99997893e-01 2.05296217e-03 0.00000000e+00 1.41330024e+01] [-2.05296217e-03 9.99997893e-01 0.00000000e+00 -1.78498482e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.48887188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.985336194999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.17, Z:-0.00 [[ 9.99999886e-01 4.77533293e-04 0.00000000e+00 1.41631589e+01] [-4.77533293e-04 9.99999886e-01 0.00000000e+00 -1.74727045e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08424082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.015336195 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.17, Z:-0.01 [[ 9.99999590e-01 -9.05514730e-04 0.00000000e+00 1.41938218e+01] [ 9.05514730e-04 9.99999590e-01 0.00000000e+00 -1.70358496e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01249688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.045336194999999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.17, Z:-0.01 [[ 9.99999314e-01 -1.17127641e-03 0.00000000e+00 1.42252816e+01] [ 1.17127641e-03 9.99999314e-01 0.00000000e+00 -1.69774459e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31162657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.075336195 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.17, Z:-0.02 [[ 9.99994350e-01 -3.36167168e-03 0.00000000e+00 1.42554150e+01] [ 3.36167168e-03 9.99994350e-01 0.00000000e+00 -1.69260386e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22124944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.105336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.17, Z:-0.02 [[ 9.99986045e-01 -5.28306710e-03 0.00000000e+00 1.42878908e+01] [ 5.28306710e-03 9.99986045e-01 0.00000000e+00 -1.68842445e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18991651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.135336194999999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.16, Z:-0.02 [[ 9.99953328e-01 -9.66131319e-03 0.00000000e+00 1.43216089e+01] [ 9.66131319e-03 9.99953328e-01 0.00000000e+00 -1.63386017e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92351856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.165336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.16, Z:-0.02 [[ 9.99914923e-01 -1.30440051e-02 0.00000000e+00 1.43534984e+01] [ 1.30440051e-02 9.99914923e-01 0.00000000e+00 -1.63289683e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70759126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.195336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.16, Z:-0.02 [[ 0.99984556 -0.01757419 0. 14.38464103] [ 0.01757419 0.99984556 0. -0.16457707] [ 0. 0. 1. -0.01567108] [ 0. 0. 0. 1. ]] SLAMing on 14.225336194999999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.17, Z:-0.02 [[ 0.99980587 -0.01970356 0. 14.41708237] [ 0.01970356 0.99980587 0. -0.16593575] [ 0. 0. 1. -0.0153066 ] [ 0. 0. 0. 1. ]] SLAMing on 14.255336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.17, Z:-0.02 [[ 0.99980717 -0.01963727 0. 14.45062905] [ 0.01963727 0.99980717 0. -0.16664558] [ 0. 0. 1. -0.0153066 ] [ 0. 0. 0. 1. ]] SLAMing on 14.285336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.17, Z:-0.01 [[ 9.99754377e-01 -2.21627195e-02 0.00000000e+00 1.44833985e+01] [ 2.21627195e-02 9.99754377e-01 0.00000000e+00 -1.65662492e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27153712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.315336194999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.16, Z:-0.01 [[ 9.99761779e-01 -2.18262502e-02 0.00000000e+00 1.45153292e+01] [ 2.18262502e-02 9.99761779e-01 0.00000000e+00 -1.63779335e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21904910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.345336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.16, Z:-0.02 [[ 0.99981667 -0.01914749 0. 14.54696246] [ 0.01914749 0.99981667 0. -0.1648498 ] [ 0. 0. 1. -0.01575909] [ 0. 0. 0. 1. ]] SLAMing on 14.375336195 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.17, Z:-0.02 [[ 0.99984962 -0.0173418 0. 14.57898142] [ 0.0173418 0.99984962 0. -0.16938873] [ 0. 0. 1. -0.01806232] [ 0. 0. 0. 1. ]] SLAMing on 14.405336194999999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.17, Z:-0.02 [[ 9.99899859e-01 -1.41517560e-02 0.00000000e+00 1.46098540e+01] [ 1.41517560e-02 9.99899859e-01 0.00000000e+00 -1.72324928e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67973227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.435336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.16, Z:-0.01 [[ 9.99930434e-01 -1.17952106e-02 0.00000000e+00 1.46418778e+01] [ 1.17952106e-02 9.99930434e-01 0.00000000e+00 -1.64929811e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34100619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.465336194999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.16, Z:-0.01 [[ 9.99946231e-01 -1.03698855e-02 0.00000000e+00 1.46745753e+01] [ 1.03698855e-02 9.99946231e-01 0.00000000e+00 -1.64167464e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44761231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.495336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.17, Z:-0.02 [[ 9.99969051e-01 -7.86744089e-03 0.00000000e+00 1.47067494e+01] [ 7.86744089e-03 9.99969051e-01 0.00000000e+00 -1.66782911e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23120478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.525336195 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.17, Z:-0.03 [[ 9.99980142e-01 -6.30195699e-03 0.00000000e+00 1.47376803e+01] [ 6.30195699e-03 9.99980142e-01 0.00000000e+00 -1.66539153e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03213655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.555336194999999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.16, Z:-0.03 [[ 9.99982011e-01 -5.99806073e-03 0.00000000e+00 1.47703511e+01] [ 5.99806073e-03 9.99982011e-01 0.00000000e+00 -1.64564066e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90386549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.585336195 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.16, Z:-0.02 [[ 9.99986775e-01 -5.14296192e-03 0.00000000e+00 1.48024430e+01] [ 5.14296192e-03 9.99986775e-01 0.00000000e+00 -1.56538129e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97047632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.615336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.15, Z:-0.02 [[ 9.99989960e-01 -4.48110732e-03 0.00000000e+00 1.48335879e+01] [ 4.48110732e-03 9.99989960e-01 0.00000000e+00 -1.54518804e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69905860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.645336194999999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.15, Z:-0.01 [[ 9.99978159e-01 -6.60923207e-03 0.00000000e+00 1.48663489e+01] [ 6.60923207e-03 9.99978159e-01 0.00000000e+00 -1.54480156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34420333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.675336195 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.16, Z:-0.01 [[ 9.99931881e-01 -1.16719398e-02 0.00000000e+00 1.48977221e+01] [ 1.16719398e-02 9.99931881e-01 0.00000000e+00 -1.58035302e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35125792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.705336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.16, Z:-0.01 [[ 9.99892550e-01 -1.46590643e-02 0.00000000e+00 1.49310606e+01] [ 1.46590643e-02 9.99892550e-01 0.00000000e+00 -1.59874882e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49792828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.735336194999999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.16, Z:-0.02 [[ 0.9998519 -0.01721011 0. 14.96328898] [ 0.01721011 0.9998519 0. -0.16170189] [ 0. 0. 1. -0.0175052 ] [ 0. 0. 0. 1. ]] SLAMing on 14.765336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.17, Z:-0.02 [[ 0.99976829 -0.02152596 0. 14.99431575] [ 0.02152596 0.99976829 0. -0.16757599] [ 0. 0. 1. -0.0243092 ] [ 0. 0. 0. 1. ]] SLAMing on 14.795336194999999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.17, Z:-0.02 [[ 0.99969804 -0.02457277 0. 15.02677962] [ 0.02457277 0.99969804 0. -0.17243682] [ 0. 0. 1. -0.0239196 ] [ 0. 0. 0. 1. ]] SLAMing on 14.825336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.17, Z:-0.02 [[ 0.9996714 -0.02563367 0. 15.05994866] [ 0.02563367 0.9996714 0. -0.17370275] [ 0. 0. 1. -0.02026751] [ 0. 0. 0. 1. ]] SLAMing on 14.855336195 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.18, Z:-0.02 [[ 0.99966868 -0.02573976 0. 15.09111029] [ 0.02573976 0.99966868 0. -0.17845895] [ 0. 0. 1. -0.01853604] [ 0. 0. 0. 1. ]] SLAMing on 14.885336194999999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.18, Z:-0.02 [[ 0.99971741 -0.02377172 0. 15.12348848] [ 0.02377172 0.99971741 0. -0.18217859] [ 0. 0. 1. -0.01984583] [ 0. 0. 0. 1. ]] SLAMing on 14.915336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.19, Z:-0.01 [[ 9.99836414e-01 -1.80871426e-02 0.00000000e+00 1.51559920e+01] [ 1.80871426e-02 9.99836414e-01 0.00000000e+00 -1.86723280e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37320699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.945336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.19, Z:-0.01 [[ 9.99944577e-01 -1.05282218e-02 0.00000000e+00 1.51885753e+01] [ 1.05282218e-02 9.99944577e-01 0.00000000e+00 -1.88054391e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16048936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.975336194999999 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.19, Z:-0.01 [[ 9.99983162e-01 -5.80315523e-03 0.00000000e+00 1.52204465e+01] [ 5.80315523e-03 9.99983162e-01 0.00000000e+00 -1.87949297e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31169964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.005336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.18, Z:-0.02 [[ 9.99987047e-01 5.08973155e-03 0.00000000e+00 1.52513939e+01] [-5.08973155e-03 9.99987047e-01 0.00000000e+00 -1.84383831e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55499017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.035336195 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.18, Z:-0.02 [[ 9.99953397e-01 9.65418691e-03 0.00000000e+00 1.52795741e+01] [-9.65418691e-03 9.99953397e-01 0.00000000e+00 -1.81533283e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56306828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.065336194999999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.17, Z:-0.01 [[ 9.99856776e-01 1.69241733e-02 0.00000000e+00 1.53073773e+01] [-1.69241733e-02 9.99856776e-01 0.00000000e+00 -1.72570182e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23797020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.095336195 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.17, Z:-0.01 [[ 9.99810123e-01 1.94863447e-02 0.00000000e+00 1.53361185e+01] [-1.94863447e-02 9.99810123e-01 0.00000000e+00 -1.68358378e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34058519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.125336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.17, Z:-0.02 [[ 0.99973488 0.02302552 0. 15.36419123] [-0.02302552 0.99973488 0. -0.16575896] [ 0. 0. 1. -0.0227174 ] [ 0. 0. 0. 1. ]] SLAMing on 15.155336194999999 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.16, Z:-0.03 [[ 0.99972146 0.02360093 0. 15.39291419] [-0.02360093 0.99972146 0. -0.16464092] [ 0. 0. 1. -0.02600273] [ 0. 0. 0. 1. ]] SLAMing on 15.185336195 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.15, Z:-0.03 [[ 0.99976322 0.02175992 0. 15.42082934] [-0.02175992 0.99976322 0. -0.154233 ] [ 0. 0. 1. -0.02785608] [ 0. 0. 0. 1. ]] SLAMing on 15.215336194999999 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.14, Z:-0.02 [[ 0.9998589 0.01679846 0. 15.44968148] [-0.01679846 0.9998589 0. -0.14056918] [ 0. 0. 1. -0.02279099] [ 0. 0. 0. 1. ]] SLAMing on 15.245336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.13, Z:-0.02 [[ 9.99950306e-01 9.96919025e-03 0.00000000e+00 1.54773080e+01] [-9.96919025e-03 9.99950306e-01 0.00000000e+00 -1.34282349e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29964904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.13, Z:-0.02 [[ 9.99983089e-01 5.81566286e-03 0.00000000e+00 1.55064069e+01] [-5.81566286e-03 9.99983089e-01 0.00000000e+00 -1.34757119e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31590341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.305336194999999 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.13, Z:-0.02 [[ 9.99998729e-01 1.59428657e-03 0.00000000e+00 1.55350903e+01] [-1.59428657e-03 9.99998729e-01 0.00000000e+00 -1.34600997e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14261901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.335336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.13, Z:-0.02 [[ 9.99979651e-01 -6.37939427e-03 0.00000000e+00 1.55649419e+01] [ 6.37939427e-03 9.99979651e-01 0.00000000e+00 -1.30622493e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85318156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.365336195 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.13, Z:-0.02 [[ 9.99954003e-01 -9.59129171e-03 0.00000000e+00 1.55968912e+01] [ 9.59129171e-03 9.99954003e-01 0.00000000e+00 -1.28540365e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78556151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.395336194999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:15.63, Y:-0.12, Z:-0.01 [[ 9.99892242e-01 -1.46800660e-02 0.00000000e+00 1.56299057e+01] [ 1.46800660e-02 9.99892242e-01 0.00000000e+00 -1.20918931e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.32645271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.425336195 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.12, Z:-0.01 [[ 9.99866765e-01 -1.63233592e-02 0.00000000e+00 1.56630233e+01] [ 1.63233592e-02 9.99866765e-01 0.00000000e+00 -1.18211525e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.57379215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.455336195 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:15.69, Y:-0.12, Z:-0.01 [[ 9.99869513e-01 -1.61541604e-02 0.00000000e+00 1.56947791e+01] [ 1.61541604e-02 9.99869513e-01 0.00000000e+00 -1.17006683e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04674998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.485336194999999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.12, Z:-0.01 [[ 9.99922972e-01 -1.24117255e-02 0.00000000e+00 1.57270133e+01] [ 1.24117255e-02 9.99922972e-01 0.00000000e+00 -1.15261013e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49166051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.515336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.11, Z:-0.02 [[ 9.99943780e-01 -1.06035781e-02 0.00000000e+00 1.57595129e+01] [ 1.06035781e-02 9.99943780e-01 0.00000000e+00 -1.14885840e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67696977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.545336194999999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.11, Z:-0.01 [[ 9.99963503e-01 -8.54357406e-03 0.00000000e+00 1.57917727e+01] [ 8.54357406e-03 9.99963503e-01 0.00000000e+00 -1.09219647e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32431458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.575336195 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.10, Z:-0.01 [[ 9.99970156e-01 -7.72572470e-03 0.00000000e+00 1.58239941e+01] [ 7.72572470e-03 9.99970156e-01 0.00000000e+00 -1.04853981e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11172111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.605336195 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.10, Z:-0.01 [[ 9.99975319e-01 -7.02579218e-03 0.00000000e+00 1.58571356e+01] [ 7.02579218e-03 9.99975319e-01 0.00000000e+00 -1.01429082e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35651125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.635336194999999 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.10, Z:-0.02 [[ 9.99960966e-01 -8.83557385e-03 0.00000000e+00 1.58882229e+01] [ 8.83557385e-03 9.99960966e-01 0.00000000e+00 -1.02220277e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00110227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.665336195 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.10, Z:-0.02 [[ 9.99951947e-01 -9.80320845e-03 0.00000000e+00 1.59207020e+01] [ 9.80320845e-03 9.99951947e-01 0.00000000e+00 -1.02876683e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29852172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.695336195 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.10, Z:-0.03 [[ 9.99922384e-01 -1.24589457e-02 0.00000000e+00 1.59526677e+01] [ 1.24589457e-02 9.99922384e-01 0.00000000e+00 -1.03108595e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67242384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.725336194999999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:15.98, Y:-0.10, Z:-0.03 [[ 9.99909042e-01 -1.34873271e-02 0.00000000e+00 1.59847745e+01] [ 1.34873271e-02 9.99909042e-01 0.00000000e+00 -1.03318814e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61210044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.755336195 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.10, Z:-0.02 [[ 9.99886725e-01 -1.50511563e-02 0.00000000e+00 1.60157414e+01] [ 1.50511563e-02 9.99886725e-01 0.00000000e+00 -1.04826834e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38145859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.785336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.10, Z:-0.02 [[ 9.99881758e-01 -1.53775850e-02 0.00000000e+00 1.60489440e+01] [ 1.53775850e-02 9.99881758e-01 0.00000000e+00 -1.04595057e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07580643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.815336194999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.10, Z:-0.02 [[ 9.99901330e-01 -1.40474329e-02 0.00000000e+00 1.60812569e+01] [ 1.40474329e-02 9.99901330e-01 0.00000000e+00 -1.03611332e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75961133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.845336195 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.11, Z:-0.02 [[ 9.99917232e-01 -1.28658417e-02 0.00000000e+00 1.61145991e+01] [ 1.28658417e-02 9.99917232e-01 0.00000000e+00 -1.05828619e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85630105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.875336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.11, Z:-0.02 [[ 9.99945682e-01 -1.04226863e-02 0.00000000e+00 1.61456669e+01] [ 1.04226863e-02 9.99945682e-01 0.00000000e+00 -1.09119608e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06964831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.905336194999999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.11, Z:-0.02 [[ 9.99967680e-01 -8.03984070e-03 0.00000000e+00 1.61772396e+01] [ 8.03984070e-03 9.99967680e-01 0.00000000e+00 -1.09897648e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92041247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.935336195 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.11, Z:-0.02 [[ 9.99974775e-01 -7.10270681e-03 0.00000000e+00 1.62096863e+01] [ 7.10270681e-03 9.99974775e-01 0.00000000e+00 -1.12030367e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11214422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.965336194999999 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.12, Z:-0.02 [[ 9.99984153e-01 -5.62979555e-03 0.00000000e+00 1.62407978e+01] [ 5.62979555e-03 9.99984153e-01 0.00000000e+00 -1.15085520e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37986737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.995336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.12, Z:-0.02 [[ 9.99982330e-01 -5.94478970e-03 0.00000000e+00 1.62731018e+01] [ 5.94478970e-03 9.99982330e-01 0.00000000e+00 -1.15709247e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16733450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.025336195 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:16.31, Y:-0.12, Z:-0.02 [[ 9.99977705e-01 -6.67751233e-03 0.00000000e+00 1.63051145e+01] [ 6.67751233e-03 9.99977705e-01 0.00000000e+00 -1.17187520e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20696659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.055336195000002 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.12, Z:-0.02 [[ 9.99960317e-01 -8.90867575e-03 0.00000000e+00 1.63360309e+01] [ 8.90867575e-03 9.99960317e-01 0.00000000e+00 -1.19872438e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17857626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.085336195 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.12, Z:-0.02 [[ 9.99954290e-01 -9.56129064e-03 0.00000000e+00 1.63675554e+01] [ 9.56129064e-03 9.99954290e-01 0.00000000e+00 -1.19745152e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96576465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.115336195 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.12, Z:-0.02 [[ 9.99963523e-01 -8.54126141e-03 0.00000000e+00 1.63996016e+01] [ 8.54126141e-03 9.99963523e-01 0.00000000e+00 -1.23345016e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98737428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.145336195000002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.13, Z:-0.02 [[ 9.99973095e-01 -7.33548364e-03 0.00000000e+00 1.64321978e+01] [ 7.33548364e-03 9.99973095e-01 0.00000000e+00 -1.29676743e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48522656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.175336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.13, Z:-0.02 [[ 9.99973590e-01 -7.26765627e-03 0.00000000e+00 1.64657482e+01] [ 7.26765627e-03 9.99973590e-01 0.00000000e+00 -1.30482471e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48522656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.205336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.13, Z:-0.03 [[ 9.99990481e-01 -4.36328884e-03 0.00000000e+00 1.64972843e+01] [ 4.36328884e-03 9.99990481e-01 0.00000000e+00 -1.33790649e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86977612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.235336195000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.13, Z:-0.02 [[ 9.99998254e-01 -1.86863915e-03 0.00000000e+00 1.65287360e+01] [ 1.86863915e-03 9.99998254e-01 0.00000000e+00 -1.30201839e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37291578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.265336195 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.13, Z:-0.02 [[ 9.99999269e-01 -1.20919070e-03 0.00000000e+00 1.65598501e+01] [ 1.20919070e-03 9.99999269e-01 0.00000000e+00 -1.29462087e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08144994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.295336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.13, Z:-0.02 [[ 9.99999195e-01 -1.26894205e-03 0.00000000e+00 1.65914328e+01] [ 1.26894205e-03 9.99999195e-01 0.00000000e+00 -1.27913965e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95292645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.325336195000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.13, Z:-0.02 [[ 9.99998243e-01 -1.87440815e-03 0.00000000e+00 1.66224239e+01] [ 1.87440815e-03 9.99998243e-01 0.00000000e+00 -1.27486199e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08902455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.355336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.13, Z:-0.02 [[ 9.99995667e-01 -2.94376213e-03 0.00000000e+00 1.66537868e+01] [ 2.94376213e-03 9.99995667e-01 0.00000000e+00 -1.31855057e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47490394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.385336195 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.13, Z:-0.03 [[ 9.99995017e-01 -3.15676456e-03 0.00000000e+00 1.66846985e+01] [ 3.15676456e-03 9.99995017e-01 0.00000000e+00 -1.34809288e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51998665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.415336195000002 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.13, Z:-0.02 [[ 9.99995191e-01 -3.10118607e-03 0.00000000e+00 1.67167824e+01] [ 3.10118607e-03 9.99995191e-01 0.00000000e+00 -1.33554330e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43842290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.445336195 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.13, Z:-0.02 [[ 9.99993379e-01 -3.63881828e-03 0.00000000e+00 1.67492731e+01] [ 3.63881828e-03 9.99993379e-01 0.00000000e+00 -1.32970533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47970326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.475336195 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.13, Z:-0.02 [[ 9.99983597e-01 -5.72764447e-03 0.00000000e+00 1.67815970e+01] [ 5.72764447e-03 9.99983597e-01 0.00000000e+00 -1.33703058e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39970080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.505336195 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.13, Z:-0.03 [[ 9.99976536e-01 -6.85034650e-03 0.00000000e+00 1.68124464e+01] [ 6.85034650e-03 9.99976536e-01 0.00000000e+00 -1.33747148e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50548013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.535336195000003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.14, Z:-0.03 [[ 9.99973265e-01 -7.31224194e-03 0.00000000e+00 1.68449681e+01] [ 7.31224194e-03 9.99973265e-01 0.00000000e+00 -1.36991207e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84744832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.565336195 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:16.88, Y:-0.15, Z:-0.03 [[ 9.99950177e-01 -9.98216474e-03 0.00000000e+00 1.68763510e+01] [ 9.98216474e-03 9.99950177e-01 0.00000000e+00 -1.47126495e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24931047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.595336195 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:16.91, Y:-0.15, Z:-0.03 [[ 9.99932148e-01 -1.16489808e-02 0.00000000e+00 1.69083457e+01] [ 1.16489808e-02 9.99932148e-01 0.00000000e+00 -1.49090977e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80551019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.625336195000003 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.15, Z:-0.02 [[ 9.99881650e-01 -1.53846163e-02 0.00000000e+00 1.69408038e+01] [ 1.53846163e-02 9.99881650e-01 0.00000000e+00 -1.49550860e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38891752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.655336195 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:16.97, Y:-0.15, Z:-0.02 [[ 0.9998514 -0.01723861 0. 16.97384886] [ 0.01723861 0.9998514 0. -0.15223594] [ 0. 0. 1. -0.02122834] [ 0. 0. 0. 1. ]] SLAMing on 16.685336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:17.00, Y:-0.16, Z:-0.02 [[ 0.99982998 -0.0184394 0. 17.00461273] [ 0.0184394 0.99982998 0. -0.16082074] [ 0. 0. 1. -0.02148922] [ 0. 0. 0. 1. ]] SLAMing on 16.715336195000003 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.17, Z:-0.02 [[ 9.99895664e-01 -1.44450970e-02 0.00000000e+00 1.70365098e+01] [ 1.44450970e-02 9.99895664e-01 0.00000000e+00 -1.66562114e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26008486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.745336195 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.17, Z:-0.02 [[ 9.99941206e-01 -1.08436477e-02 0.00000000e+00 1.70688744e+01] [ 1.08436477e-02 9.99941206e-01 0.00000000e+00 -1.69676528e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47674502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.775336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:17.10, Y:-0.17, Z:-0.03 [[ 9.99999928e-01 -3.78697326e-04 0.00000000e+00 1.71011299e+01] [ 3.78697326e-04 9.99999928e-01 0.00000000e+00 -1.72797942e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50224636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.805336195000002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.17, Z:-0.02 [[ 9.99985343e-01 5.41415730e-03 0.00000000e+00 1.71310261e+01] [-5.41415730e-03 9.99985343e-01 0.00000000e+00 -1.72091319e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47732151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.835336195 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:17.16, Y:-0.17, Z:-0.02 [[ 9.99872792e-01 1.59499089e-02 0.00000000e+00 1.71591839e+01] [-1.59499089e-02 9.99872792e-01 0.00000000e+00 -1.71279978e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44379819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.865336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:17.19, Y:-0.17, Z:-0.03 [[ 0.99980007 0.01999532 0. 17.1868287 ] [-0.01999532 0.99980007 0. -0.17146805] [ 0. 0. 1. -0.02741169] [ 0. 0. 0. 1. ]] SLAMing on 16.895336195000002 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:17.22, Y:-0.17, Z:-0.03 [[ 0.9997183 0.02373447 0. 17.21604684] [-0.02373447 0.9997183 0. -0.17151935] [ 0. 0. 1. -0.03004112] [ 0. 0. 0. 1. ]] SLAMing on 16.925336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:17.24, Y:-0.17, Z:-0.03 [[ 0.99971344 0.02393818 0. 17.2434692 ] [-0.02393818 0.99971344 0. -0.17217362] [ 0. 0. 1. -0.02943783] [ 0. 0. 0. 1. ]] SLAMing on 16.955336195 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:17.27, Y:-0.17, Z:-0.03 [[ 0.99974587 0.02254297 0. 17.27175965] [-0.02254297 0.99974587 0. -0.17250051] [ 0. 0. 1. -0.02733153] [ 0. 0. 0. 1. ]] SLAMing on 16.985336195000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:17.30, Y:-0.17, Z:-0.03 [[ 0.99977226 0.02134091 0. 17.30008569] [-0.02134091 0.99977226 0. -0.17378435] [ 0. 0. 1. -0.027408 ] [ 0. 0. 0. 1. ]] SLAMing on 17.015336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:17.33, Y:-0.18, Z:-0.03 [[ 0.99984021 0.01787624 0. 17.32785023] [-0.01787624 0.99984021 0. -0.17522907] [ 0. 0. 1. -0.02946323] [ 0. 0. 0. 1. ]] SLAMing on 17.045336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.17, Z:-0.03 [[ 9.99876594e-01 1.57097505e-02 0.00000000e+00 1.73547665e+01] [-1.57097505e-02 9.99876594e-01 0.00000000e+00 -1.73902644e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87520602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.075336195000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.17, Z:-0.03 [[ 9.99952369e-01 9.76015865e-03 0.00000000e+00 1.73831604e+01] [-9.76015865e-03 9.99952369e-01 0.00000000e+00 -1.70577693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53987369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.105336195 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:17.41, Y:-0.17, Z:-0.03 [[ 9.99986217e-01 5.25028587e-03 0.00000000e+00 1.74112032e+01] [-5.25028587e-03 9.99986217e-01 0.00000000e+00 -1.71526750e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57524699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.135336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.18, Z:-0.03 [[ 9.99987683e-01 -4.96332721e-03 0.00000000e+00 1.74387674e+01] [ 4.96332721e-03 9.99987683e-01 0.00000000e+00 -1.80620970e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01581964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.165336195000002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:17.47, Y:-0.19, Z:-0.03 [[ 9.99880516e-01 -1.54581052e-02 0.00000000e+00 1.74712717e+01] [ 1.54581052e-02 9.99880516e-01 0.00000000e+00 -1.89453793e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38819512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.195336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.19, Z:-0.03 [[ 0.99981505 -0.01923189 0. 17.5038135 ] [ 0.01923189 0.99981505 0. -0.19301421] [ 0. 0. 1. -0.03290235] [ 0. 0. 0. 1. ]] SLAMing on 17.225336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:17.54, Y:-0.20, Z:-0.03 [[ 0.99974715 -0.02248629 0. 17.53632986] [ 0.02248629 0.99974715 0. -0.19948 ] [ 0. 0. 1. -0.02726306] [ 0. 0. 0. 1. ]] SLAMing on 17.255336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:17.57, Y:-0.20, Z:-0.03 [[ 0.99974221 -0.0227049 0. 17.56850611] [ 0.0227049 0.99974221 0. -0.20361879] [ 0. 0. 1. -0.02600927] [ 0. 0. 0. 1. ]] SLAMing on 17.285336195000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.21, Z:-0.03 [[ 0.99980131 -0.01993363 0. 17.60037061] [ 0.01993363 0.99980131 0. -0.21362154] [ 0. 0. 1. -0.02760121] [ 0. 0. 0. 1. ]] SLAMing on 17.315336195 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:17.63, Y:-0.22, Z:-0.03 [[ 9.99864023e-01 -1.64904661e-02 0.00000000e+00 1.76320486e+01] [ 1.64904661e-02 9.99864023e-01 0.00000000e+00 -2.20010424e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00836278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.345336195 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.23, Z:-0.03 [[ 9.99961355e-01 -8.79142297e-03 0.00000000e+00 1.76628603e+01] [ 8.79142297e-03 9.99961355e-01 0.00000000e+00 -2.32147497e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06856051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.375336195000003 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:17.70, Y:-0.24, Z:-0.03 [[ 9.99989902e-01 -4.49406912e-03 0.00000000e+00 1.76952211e+01] [ 4.49406912e-03 9.99989902e-01 0.00000000e+00 -2.35630553e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82923420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.405336195 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.24, Z:-0.03 [[ 9.99986863e-01 5.12574923e-03 0.00000000e+00 1.77265163e+01] [-5.12574923e-03 9.99986863e-01 0.00000000e+00 -2.41690529e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13301138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.435336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:17.75, Y:-0.25, Z:-0.03 [[ 9.99907734e-01 1.35839110e-02 0.00000000e+00 1.77528021e+01] [-1.35839110e-02 9.99907734e-01 0.00000000e+00 -2.49878156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43675304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.465336195000003 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.25, Z:-0.03 [[ 9.99856643e-01 1.69320006e-02 0.00000000e+00 1.77813127e+01] [-1.69320006e-02 9.99856643e-01 0.00000000e+00 -2.52578788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16246250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.495336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:17.81, Y:-0.25, Z:-0.03 [[ 0.99976362 0.02174162 0. 17.80998246] [-0.02174162 0.99976362 0. -0.2541726 ] [ 0. 0. 1. -0.02816758] [ 0. 0. 0. 1. ]] SLAMing on 17.525336195 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:17.84, Y:-0.25, Z:-0.03 [[ 0.99973385 0.02307002 0. 17.83723121] [-0.02307002 0.99973385 0. -0.25470205] [ 0. 0. 1. -0.02518479] [ 0. 0. 0. 1. ]] SLAMing on 17.555336195000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:17.87, Y:-0.26, Z:-0.02 [[ 0.99968348 0.02515814 0. 17.86550261] [-0.02515814 0.99968348 0. -0.25591323] [ 0. 0. 1. -0.02282079] [ 0. 0. 0. 1. ]] SLAMing on 17.585336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.26, Z:-0.03 [[ 0.99971711 0.02378459 0. 17.89293979] [-0.02378459 0.99971711 0. -0.26424394] [ 0. 0. 1. -0.03326185] [ 0. 0. 0. 1. ]] SLAMing on 17.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.92, Y:-0.27, Z:-0.03 [[ 0.99975387 0.02218554 0. 17.91963374] [-0.02218554 0.99975387 0. -0.26670614] [ 0. 0. 1. -0.03320186] [ 0. 0. 0. 1. ]] SLAMing on 17.645336195000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.95, Y:-0.27, Z:-0.03 [[ 0.9997991 0.02004381 0. 17.94885719] [-0.02004381 0.9997991 0. -0.26533583] [ 0. 0. 1. -0.02998386] [ 0. 0. 0. 1. ]] SLAMing on 17.675336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.98, Y:-0.26, Z:-0.03 [[ 9.99889372e-01 1.48742446e-02 0.00000000e+00 1.79776262e+01] [-1.48742446e-02 9.99889372e-01 0.00000000e+00 -2.61934068e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67831944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.705336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:18.01, Y:-0.26, Z:-0.03 [[ 9.99921376e-01 1.25396396e-02 0.00000000e+00 1.80057072e+01] [-1.25396396e-02 9.99921376e-01 0.00000000e+00 -2.62062473e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83158375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.735336195000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.27, Z:-0.04 [[ 9.99960745e-01 8.86045915e-03 0.00000000e+00 1.80341647e+01] [-8.86045915e-03 9.99960745e-01 0.00000000e+00 -2.67563824e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53389081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.765336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.27, Z:-0.04 [[ 9.99970882e-01 7.63124344e-03 0.00000000e+00 1.80628334e+01] [-7.63124344e-03 9.99970882e-01 0.00000000e+00 -2.72048350e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.66960735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.795336195 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.28, Z:-0.04 [[ 9.99974873e-01 7.08897835e-03 0.00000000e+00 1.80907409e+01] [-7.08897835e-03 9.99974873e-01 0.00000000e+00 -2.76108745e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59904742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.825336195000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.27, Z:-0.03 [[ 9.99967976e-01 8.00290011e-03 0.00000000e+00 1.81187191e+01] [-8.00290011e-03 9.99967976e-01 0.00000000e+00 -2.71342071e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33519257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.855336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.27, Z:-0.03 [[ 9.99949494e-01 1.00503945e-02 0.00000000e+00 1.81472310e+01] [-1.00503945e-02 9.99949494e-01 0.00000000e+00 -2.67494115e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02648105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.885336195 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:18.18, Y:-0.26, Z:-0.03 [[ 9.99881920e-01 1.53670246e-02 0.00000000e+00 1.81751346e+01] [-1.53670246e-02 9.99881920e-01 0.00000000e+00 -2.62200272e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40753165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.915336195000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:18.20, Y:-0.26, Z:-0.04 [[ 9.99853628e-01 1.71091568e-02 0.00000000e+00 1.82035637e+01] [-1.71091568e-02 9.99853628e-01 0.00000000e+00 -2.62436450e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.68988850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.945336195 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:18.23, Y:-0.26, Z:-0.04 [[ 0.99980198 0.01989955 0. 18.23264762] [-0.01989955 0.99980198 0. -0.26207786] [ 0. 0. 1. -0.03867296] [ 0. 0. 0. 1. ]] SLAMing on 17.975336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:18.26, Y:-0.26, Z:-0.04 [[ 0.99977252 0.02132876 0. 18.26022211] [-0.02132876 0.99977252 0. -0.25982689] [ 0. 0. 1. -0.03792323] [ 0. 0. 0. 1. ]] SLAMing on 18.005336195 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:18.29, Y:-0.25, Z:-0.04 [[ 0.9997753 0.02119796 0. 18.28770157] [-0.02119796 0.9997753 0. -0.25385511] [ 0. 0. 1. -0.03891514] [ 0. 0. 0. 1. ]] SLAMing on 18.035336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.32, Y:-0.25, Z:-0.04 [[ 0.9997963 0.02018325 0. 18.31695298] [-0.02018325 0.9997963 0. -0.25148902] [ 0. 0. 1. -0.03560538] [ 0. 0. 0. 1. ]] SLAMing on 18.065336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.35, Y:-0.25, Z:-0.04 [[ 0.99979767 0.02011531 0. 18.34539406] [-0.02011531 0.99979767 0. -0.25195718] [ 0. 0. 1. -0.03560538] [ 0. 0. 0. 1. ]] SLAMing on 18.095336195 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:18.37, Y:-0.24, Z:-0.03 [[ 9.99896819e-01 1.43649010e-02 0.00000000e+00 1.83738410e+01] [-1.43649010e-02 9.99896819e-01 0.00000000e+00 -2.44879637e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07783255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.125336195000003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:18.40, Y:-0.24, Z:-0.03 [[ 9.99985603e-01 5.36602338e-03 0.00000000e+00 1.84019132e+01] [-5.36602338e-03 9.99985603e-01 0.00000000e+00 -2.42169469e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21082639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.155336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:18.43, Y:-0.24, Z:-0.03 [[ 9.99999336e-01 1.15210664e-03 0.00000000e+00 1.84307653e+01] [-1.15210664e-03 9.99999336e-01 0.00000000e+00 -2.41798473e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26685587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.185336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:18.46, Y:-0.24, Z:-0.03 [[ 9.99970840e-01 -7.63663258e-03 0.00000000e+00 1.84602957e+01] [ 7.63663258e-03 9.99970840e-01 0.00000000e+00 -2.43314965e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47624875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.215336195000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.25, Z:-0.04 [[ 9.99938172e-01 -1.11199374e-02 0.00000000e+00 1.84916164e+01] [ 1.11199374e-02 9.99938172e-01 0.00000000e+00 -2.45576757e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.87410594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.245336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:18.52, Y:-0.25, Z:-0.04 [[ 9.99875450e-01 -1.57824211e-02 0.00000000e+00 1.85237962e+01] [ 1.57824211e-02 9.99875450e-01 0.00000000e+00 -2.45368557e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.91805716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.275336195 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.24, Z:-0.04 [[ 9.99857440e-01 -1.68848895e-02 0.00000000e+00 1.85565899e+01] [ 1.68848895e-02 9.99857440e-01 0.00000000e+00 -2.41501396e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.75460000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.305336195000002 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.24, Z:-0.04 [[ 9.99863520e-01 -1.65209383e-02 0.00000000e+00 1.85891558e+01] [ 1.65209383e-02 9.99863520e-01 0.00000000e+00 -2.43411895e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00630565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.335336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.25, Z:-0.04 [[ 9.99857016e-01 -1.69099774e-02 0.00000000e+00 1.86204465e+01] [ 1.69099774e-02 9.99857016e-01 0.00000000e+00 -2.51394212e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.13281078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.365336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.25, Z:-0.03 [[ 9.99844234e-01 -1.76495691e-02 0.00000000e+00 1.86528936e+01] [ 1.76495691e-02 9.99844234e-01 0.00000000e+00 -2.53199339e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49131785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.395336195000002 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:18.69, Y:-0.25, Z:-0.03 [[ 9.99841851e-01 -1.77840673e-02 0.00000000e+00 1.86852783e+01] [ 1.77840673e-02 9.99841851e-01 0.00000000e+00 -2.51846135e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31894721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.425336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:18.72, Y:-0.25, Z:-0.03 [[ 9.99843708e-01 -1.76793368e-02 0.00000000e+00 1.87183256e+01] [ 1.76793368e-02 9.99843708e-01 0.00000000e+00 -2.51829724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29838191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.455336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:18.75, Y:-0.26, Z:-0.04 [[ 9.99884639e-01 -1.51890986e-02 0.00000000e+00 1.87496955e+01] [ 1.51890986e-02 9.99884639e-01 0.00000000e+00 -2.58384909e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82081339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.485336195000002 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:18.78, Y:-0.27, Z:-0.05 [[ 9.99937849e-01 -1.11489108e-02 0.00000000e+00 1.87814430e+01] [ 1.11489108e-02 9.99937849e-01 0.00000000e+00 -2.69851237e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78208961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.515336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:18.81, Y:-0.28, Z:-0.05 [[ 9.99958910e-01 -9.06524195e-03 0.00000000e+00 1.88139133e+01] [ 9.06524195e-03 9.99958910e-01 0.00000000e+00 -2.76341993e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88558917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.545336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.28, Z:-0.05 [[ 9.99975735e-01 -6.96635571e-03 0.00000000e+00 1.88460097e+01] [ 6.96635571e-03 9.99975735e-01 0.00000000e+00 -2.81213827e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58884391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.575336195000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.29, Z:-0.04 [[ 9.99986511e-01 -5.19408023e-03 0.00000000e+00 1.88767817e+01] [ 5.19408023e-03 9.99986511e-01 0.00000000e+00 -2.85692619e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10818409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.605336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.29, Z:-0.04 [[ 9.99982038e-01 -5.99369880e-03 0.00000000e+00 1.89085692e+01] [ 5.99369880e-03 9.99982038e-01 0.00000000e+00 -2.94318542e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01883166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.30, Z:-0.04 [[ 9.99978637e-01 -6.53649414e-03 0.00000000e+00 1.89392578e+01] [ 6.53649414e-03 9.99978637e-01 0.00000000e+00 -3.02264620e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37551794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.665336195000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:18.97, Y:-0.31, Z:-0.05 [[ 9.99987874e-01 -4.92465169e-03 0.00000000e+00 1.89709516e+01] [ 4.92465169e-03 9.99987874e-01 0.00000000e+00 -3.14183137e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88162461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.695336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:19.00, Y:-0.32, Z:-0.05 [[ 9.99997044e-01 -2.43138571e-03 0.00000000e+00 1.90030391e+01] [ 2.43138571e-03 9.99997044e-01 0.00000000e+00 -3.18569458e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85896767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.725336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.33, Z:-0.05 [[ 9.99981721e-01 6.04631005e-03 0.00000000e+00 1.90345814e+01] [-6.04631005e-03 9.99981721e-01 0.00000000e+00 -3.25848000e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.93223338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.755336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.33, Z:-0.05 [[ 9.99847006e-01 1.74918637e-02 0.00000000e+00 1.90609369e+01] [-1.74918637e-02 9.99847006e-01 0.00000000e+00 -3.29518116e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91934797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.785336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.09, Y:-0.33, Z:-0.05 [[ 0.99972541 0.02343296 0. 19.08868329] [-0.02343296 0.99972541 0. -0.3280551 ] [ 0. 0. 1. -0.04669699] [ 0. 0. 0. 1. ]] SLAMing on 18.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.12, Y:-0.32, Z:-0.05 [[ 0.99943803 0.03352055 0. 19.1164207 ] [-0.03352055 0.99943803 0. -0.32217577] [ 0. 0. 1. -0.04729829] [ 0. 0. 0. 1. ]] SLAMing on 18.845336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.32, Z:-0.05 [[ 0.99933881 0.03635867 0. 19.14444563] [-0.03635867 0.99933881 0. -0.32033578] [ 0. 0. 1. -0.04555538] [ 0. 0. 0. 1. ]] SLAMing on 18.875336195000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.32, Z:-0.05 [[ 0.99924999 0.03872274 0. 19.17239303] [-0.03872274 0.99924999 0. -0.32171616] [ 0. 0. 1. -0.04705857] [ 0. 0. 0. 1. ]] SLAMing on 18.905336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.32, Z:-0.05 [[ 0.99928637 0.03777239 0. 19.20031867] [-0.03777239 0.99928637 0. -0.32348883] [ 0. 0. 1. -0.04759787] [ 0. 0. 0. 1. ]] SLAMing on 18.935336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.32, Z:-0.05 [[ 0.99949392 0.03181034 0. 19.2285534 ] [-0.03181034 0.99949392 0. -0.32152883] [ 0. 0. 1. -0.04754757] [ 0. 0. 0. 1. ]] SLAMing on 18.965336195000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:19.26, Y:-0.32, Z:-0.05 [[ 0.99961584 0.02771577 0. 19.25694275] [-0.02771577 0.99961584 0. -0.31835744] [ 0. 0. 1. -0.04504835] [ 0. 0. 0. 1. ]] SLAMing on 18.995336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:19.29, Y:-0.32, Z:-0.05 [[ 9.99817582e-01 1.90998240e-02 0.00000000e+00 1.92853344e+01] [-1.90998240e-02 9.99817582e-01 0.00000000e+00 -3.15410278e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.86755667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.025336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:19.31, Y:-0.32, Z:-0.05 [[ 9.99882326e-01 1.53405863e-02 0.00000000e+00 1.93143746e+01] [-1.53405863e-02 9.99882326e-01 0.00000000e+00 -3.15156060e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.02597547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.055336195000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:19.34, Y:-0.31, Z:-0.05 [[ 9.99963638e-01 8.52771660e-03 0.00000000e+00 1.93431496e+01] [-8.52771660e-03 9.99963638e-01 0.00000000e+00 -3.13042618e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.20094665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.085336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:19.37, Y:-0.31, Z:-0.06 [[ 9.99996143e-01 2.77749080e-03 0.00000000e+00 1.93714232e+01] [-2.77749080e-03 9.99996143e-01 0.00000000e+00 -3.12708608e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.50894160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.115336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:19.40, Y:-0.31, Z:-0.05 [[ 9.99999871e-01 5.07460986e-04 0.00000000e+00 1.94006131e+01] [-5.07460986e-04 9.99999871e-01 0.00000000e+00 -3.13699453e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46753560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.145336195000002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.32, Z:-0.05 [[ 9.99988348e-01 -4.82739713e-03 0.00000000e+00 1.94312373e+01] [ 4.82739713e-03 9.99988348e-01 0.00000000e+00 -3.15057831e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41236132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.175336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.31, Z:-0.05 [[ 9.99970882e-01 -7.63114666e-03 0.00000000e+00 1.94635283e+01] [ 7.63114666e-03 9.99970882e-01 0.00000000e+00 -3.13172537e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.24027233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.205336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:19.50, Y:-0.31, Z:-0.04 [[ 9.99928588e-01 -1.19506700e-02 0.00000000e+00 1.94959247e+01] [ 1.19506700e-02 9.99928588e-01 0.00000000e+00 -3.07968684e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40764091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.235336195000002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:19.53, Y:-0.31, Z:-0.04 [[ 9.99919649e-01 -1.26765368e-02 0.00000000e+00 1.95279939e+01] [ 1.26765368e-02 9.99919649e-01 0.00000000e+00 -3.08034956e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10457338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.265336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:19.56, Y:-0.32, Z:-0.04 [[ 9.99955164e-01 -9.46941264e-03 0.00000000e+00 1.95600795e+01] [ 9.46941264e-03 9.99955164e-01 0.00000000e+00 -3.15598578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40940800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.295336195 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.32, Z:-0.05 [[ 9.99997801e-01 -2.09726637e-03 0.00000000e+00 1.95921722e+01] [ 2.09726637e-03 9.99997801e-01 0.00000000e+00 -3.21833132e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74937231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.325336195000002 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:19.62, Y:-0.32, Z:-0.05 [[ 9.99998396e-01 1.79134189e-03 0.00000000e+00 1.96235299e+01] [-1.79134189e-03 9.99998396e-01 0.00000000e+00 -3.20019903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54387717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.355336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.31, Z:-0.04 [[ 9.99981187e-01 6.13393753e-03 0.00000000e+00 1.96519680e+01] [-6.13393753e-03 9.99981187e-01 0.00000000e+00 -3.14058215e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.29400512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.385336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.31, Z:-0.04 [[ 9.99907368e-01 1.36108564e-02 0.00000000e+00 1.96806767e+01] [-1.36108564e-02 9.99907368e-01 0.00000000e+00 -3.06627496e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04405489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.415336195000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.31, Z:-0.04 [[ 9.99871755e-01 1.60147951e-02 0.00000000e+00 1.97082555e+01] [-1.60147951e-02 9.99871755e-01 0.00000000e+00 -3.09700118e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32594775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.445336195 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:19.74, Y:-0.32, Z:-0.05 [[ 9.99847426e-01 1.74678413e-02 0.00000000e+00 1.97360677e+01] [-1.74678413e-02 9.99847426e-01 0.00000000e+00 -3.15604552e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03704195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.475336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.31, Z:-0.05 [[ 9.99856808e-01 1.69222800e-02 0.00000000e+00 1.97649359e+01] [-1.69222800e-02 9.99856808e-01 0.00000000e+00 -3.13175372e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.32807464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.505336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:19.79, Y:-0.31, Z:-0.06 [[ 9.99863990e-01 1.64924925e-02 0.00000000e+00 1.97925286e+01] [-1.64924925e-02 9.99863990e-01 0.00000000e+00 -3.13750675e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94026441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.535336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.31, Z:-0.06 [[ 9.99844227e-01 1.76499708e-02 0.00000000e+00 1.98209151e+01] [-1.76499708e-02 9.99844227e-01 0.00000000e+00 -3.12426012e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.82090087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.565336195 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:19.85, Y:-0.31, Z:-0.06 [[ 9.99839579e-01 1.79113508e-02 0.00000000e+00 1.98488119e+01] [-1.79113508e-02 9.99839579e-01 0.00000000e+00 -3.10825339e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.65019815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.595336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.88, Y:-0.31, Z:-0.05 [[ 9.99823869e-01 1.87677960e-02 0.00000000e+00 1.98764886e+01] [-1.87677960e-02 9.99823869e-01 0.00000000e+00 -3.09766473e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47868573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.625336195000003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:19.91, Y:-0.31, Z:-0.05 [[ 9.99811186e-01 1.94317515e-02 0.00000000e+00 1.99054060e+01] [-1.94317515e-02 9.99811186e-01 0.00000000e+00 -3.10546976e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33936574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.655336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:19.93, Y:-0.31, Z:-0.05 [[ 0.99976578 0.02164209 0. 19.9331708 ] [-0.02164209 0.99976578 0. -0.30695025] [ 0. 0. 1. -0.05387725] [ 0. 0. 0. 1. ]] SLAMing on 19.685336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.30, Z:-0.05 [[ 0.99973977 0.02281193 0. 19.96203302] [-0.02281193 0.99973977 0. -0.30176804] [ 0. 0. 1. -0.05297231] [ 0. 0. 0. 1. ]] SLAMing on 19.715336195000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:19.99, Y:-0.30, Z:-0.06 [[ 0.99972072 0.02363226 0. 19.99016684] [-0.02363226 0.99972072 0. -0.29634002] [ 0. 0. 1. -0.05677891] [ 0. 0. 0. 1. ]] SLAMing on 19.745336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:20.02, Y:-0.30, Z:-0.06 [[ 0.99973542 0.02300185 0. 20.01813105] [-0.02300185 0.99973542 0. -0.29764275] [ 0. 0. 1. -0.05944648] [ 0. 0. 0. 1. ]] SLAMing on 19.775336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:20.05, Y:-0.30, Z:-0.07 [[ 9.99811620e-01 1.94093791e-02 0.00000000e+00 2.00464216e+01] [-1.94093791e-02 9.99811620e-01 0.00000000e+00 -2.95315397e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62736267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.805336195000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:20.07, Y:-0.29, Z:-0.07 [[ 9.99857801e-01 1.68634833e-02 0.00000000e+00 2.00749385e+01] [-1.68634833e-02 9.99857801e-01 0.00000000e+00 -2.91866916e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.69017291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.835336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:20.10, Y:-0.29, Z:-0.07 [[ 9.99945327e-01 1.04567003e-02 0.00000000e+00 2.01036167e+01] [-1.04567003e-02 9.99945327e-01 0.00000000e+00 -2.85933156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.68303233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.13, Y:-0.29, Z:-0.07 [[ 9.99973163e-01 7.32625553e-03 0.00000000e+00 2.01317361e+01] [-7.32625553e-03 9.99973163e-01 0.00000000e+00 -2.85558115e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66551608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.895336195000002 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:20.16, Y:-0.29, Z:-0.07 [[ 9.99999979e-01 2.03993030e-04 0.00000000e+00 2.01595369e+01] [-2.03993030e-04 9.99999979e-01 0.00000000e+00 -2.87649994e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.80128914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.19, Y:-0.29, Z:-0.07 [[ 9.99975704e-01 -6.97070757e-03 0.00000000e+00 2.01887937e+01] [ 6.97070757e-03 9.99975704e-01 0.00000000e+00 -2.90012383e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.91882760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.955336195 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:20.22, Y:-0.29, Z:-0.06 [[ 9.99940221e-01 -1.09340765e-02 0.00000000e+00 2.02210923e+01] [ 1.09340765e-02 9.99940221e-01 0.00000000e+00 -2.88205197e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.40176943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.985336195000002 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:20.25, Y:-0.29, Z:-0.06 [[ 9.99852050e-01 -1.72011286e-02 0.00000000e+00 2.02536153e+01] [ 1.72011286e-02 9.99852050e-01 0.00000000e+00 -2.85184288e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94423066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.015336195 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:20.29, Y:-0.29, Z:-0.06 [[ 9.99853241e-01 -1.71317467e-02 0.00000000e+00 2.02871584e+01] [ 1.71317467e-02 9.99853241e-01 0.00000000e+00 -2.85963821e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94423066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.045336195 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:20.32, Y:-0.29, Z:-0.06 [[ 9.99825841e-01 -1.86624512e-02 0.00000000e+00 2.03189495e+01] [ 1.86624512e-02 9.99825841e-01 0.00000000e+00 -2.87500291e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.15054024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.075336195000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:20.35, Y:-0.29, Z:-0.06 [[ 9.99798314e-01 -2.00831107e-02 0.00000000e+00 2.03509118e+01] [ 2.00831107e-02 9.99798314e-01 0.00000000e+00 -2.94321003e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.45078108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.105336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:20.38, Y:-0.30, Z:-0.07 [[ 9.99804190e-01 -1.97884073e-02 0.00000000e+00 2.03822730e+01] [ 1.97884073e-02 9.99804190e-01 0.00000000e+00 -2.99312688e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.97666241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.135336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:20.41, Y:-0.30, Z:-0.07 [[ 9.99855841e-01 -1.69793245e-02 0.00000000e+00 2.04142111e+01] [ 1.69793245e-02 9.99855841e-01 0.00000000e+00 -3.01903364e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.58931962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.165336195000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:20.45, Y:-0.30, Z:-0.06 [[ 9.99909484e-01 -1.34544874e-02 0.00000000e+00 2.04467285e+01] [ 1.34544874e-02 9.99909484e-01 0.00000000e+00 -3.01237480e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10141506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.195336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:20.48, Y:-0.30, Z:-0.06 [[ 9.99936588e-01 -1.12614027e-02 0.00000000e+00 2.04780078e+01] [ 1.12614027e-02 9.99936588e-01 0.00000000e+00 -3.01230301e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01474936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.225336195 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:20.51, Y:-0.30, Z:-0.05 [[ 9.99986427e-01 -5.21015311e-03 0.00000000e+00 2.05096018e+01] [ 5.21015311e-03 9.99986427e-01 0.00000000e+00 -3.01847217e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42302736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.255336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:20.54, Y:-0.31, Z:-0.06 [[ 9.99998947e-01 -1.45150956e-03 0.00000000e+00 2.05404618e+01] [ 1.45150956e-03 9.99998947e-01 0.00000000e+00 -3.05947520e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97917067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.285336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:20.57, Y:-0.31, Z:-0.06 [[ 9.99996831e-01 2.51740756e-03 0.00000000e+00 2.05715664e+01] [-2.51740756e-03 9.99996831e-01 0.00000000e+00 -3.09850643e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49099516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.315336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:20.60, Y:-0.31, Z:-0.07 [[ 9.99931022e-01 1.17452356e-02 0.00000000e+00 2.06004746e+01] [-1.17452356e-02 9.99931022e-01 0.00000000e+00 -3.08884479e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99029047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.345336195 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:20.63, Y:-0.31, Z:-0.07 [[ 9.99879405e-01 1.55298166e-02 0.00000000e+00 2.06287378e+01] [-1.55298166e-02 9.99879405e-01 0.00000000e+00 -3.05838858e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.90386357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.375336195000003 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:20.66, Y:-0.30, Z:-0.07 [[ 0.99977726 0.02110521 0. 20.65718598] [-0.02110521 0.99977726 0. -0.30144947] [ 0. 0. 1. -0.06766582] [ 0. 0. 0. 1. ]] SLAMing on 20.405336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:20.69, Y:-0.30, Z:-0.07 [[ 0.99971427 0.0239037 0. 20.68619291] [-0.0239037 0.99971427 0. -0.30325937] [ 0. 0. 1. -0.07240837] [ 0. 0. 0. 1. ]] SLAMing on 20.435336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:20.71, Y:-0.30, Z:-0.07 [[ 0.99969594 0.02465834 0. 20.71329136] [-0.02465834 0.99969594 0. -0.30278424] [ 0. 0. 1. -0.07411746] [ 0. 0. 0. 1. ]] SLAMing on 20.465336195000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.74, Y:-0.30, Z:-0.07 [[ 0.99968915 0.02493186 0. 20.7415436 ] [-0.02493186 0.99968915 0. -0.29760125] [ 0. 0. 1. -0.07368356] [ 0. 0. 0. 1. ]] SLAMing on 20.495336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.30, Z:-0.07 [[ 0.99970912 0.02411795 0. 20.77021275] [-0.02411795 0.99970912 0. -0.29809619] [ 0. 0. 1. -0.07197576] [ 0. 0. 0. 1. ]] SLAMing on 20.525336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:20.80, Y:-0.30, Z:-0.07 [[ 0.99975096 0.02231619 0. 20.79874951] [-0.02231619 0.99975096 0. -0.29998975] [ 0. 0. 1. -0.07262631] [ 0. 0. 0. 1. ]] SLAMing on 20.555336195000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.30, Z:-0.07 [[ 9.99831882e-01 1.83359416e-02 0.00000000e+00 2.08273205e+01] [-1.83359416e-02 9.99831882e-01 0.00000000e+00 -2.95564951e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.33843858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.585336195 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:20.86, Y:-0.29, Z:-0.07 [[ 9.99886947e-01 1.50364216e-02 0.00000000e+00 2.08558799e+01] [-1.50364216e-02 9.99886947e-01 0.00000000e+00 -2.94765925e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.39759717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.615336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.88, Y:-0.29, Z:-0.07 [[ 9.99925703e-01 1.21896744e-02 0.00000000e+00 2.08847170e+01] [-1.21896744e-02 9.99925703e-01 0.00000000e+00 -2.94481013e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38283627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.645336195000002 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:20.91, Y:-0.30, Z:-0.08 [[ 9.99977076e-01 6.77101916e-03 0.00000000e+00 2.09121804e+01] [-6.77101916e-03 9.99977076e-01 0.00000000e+00 -2.95924036e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.50566271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.675336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:20.94, Y:-0.30, Z:-0.07 [[ 9.99990562e-01 4.34458495e-03 0.00000000e+00 2.09406043e+01] [-4.34458495e-03 9.99990562e-01 0.00000000e+00 -2.98658036e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.40903559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.705336195 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:20.97, Y:-0.30, Z:-0.07 [[ 9.99999986e-01 1.65782803e-04 0.00000000e+00 2.09694883e+01] [-1.65782803e-04 9.99999986e-01 0.00000000e+00 -2.98592769e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04638477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.735336195000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:21.00, Y:-0.30, Z:-0.07 [[ 9.99998814e-01 -1.53991674e-03 0.00000000e+00 2.09989764e+01] [ 1.53991674e-03 9.99998814e-01 0.00000000e+00 -2.98398680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.91136763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.765336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.03, Y:-0.30, Z:-0.07 [[ 9.99997412e-01 -2.27505902e-03 0.00000000e+00 2.10301189e+01] [ 2.27505902e-03 9.99997412e-01 0.00000000e+00 -3.03902398e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.34659461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.795336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:21.06, Y:-0.31, Z:-0.07 [[ 9.99998688e-01 1.61973789e-03 0.00000000e+00 2.10616957e+01] [-1.61973789e-03 9.99998688e-01 0.00000000e+00 -3.11574952e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36874615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.825336195000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:21.09, Y:-0.31, Z:-0.07 [[ 9.99989625e-01 4.55518065e-03 0.00000000e+00 2.10905163e+01] [-4.55518065e-03 9.99989625e-01 0.00000000e+00 -3.14734092e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42329310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.855336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.12, Y:-0.32, Z:-0.08 [[ 9.99949444e-01 1.00553417e-02 0.00000000e+00 2.11197818e+01] [-1.00553417e-02 9.99949444e-01 0.00000000e+00 -3.15511134e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.91427083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.885336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.31, Z:-0.08 [[ 9.99931350e-01 1.17173152e-02 0.00000000e+00 2.11490177e+01] [-1.17173152e-02 9.99931350e-01 0.00000000e+00 -3.13701117e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.60537736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.915336195000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.18, Y:-0.31, Z:-0.07 [[ 9.99905812e-01 1.37246567e-02 0.00000000e+00 2.11774283e+01] [-1.37246567e-02 9.99905812e-01 0.00000000e+00 -3.09015487e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.74378940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.945336195 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:21.21, Y:-0.31, Z:-0.07 [[ 9.99899305e-01 1.41908144e-02 0.00000000e+00 2.12062251e+01] [-1.41908144e-02 9.99899305e-01 0.00000000e+00 -3.11229091e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66823048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.23, Y:-0.32, Z:-0.07 [[ 9.99888139e-01 1.49569374e-02 0.00000000e+00 2.12347181e+01] [-1.49569374e-02 9.99888139e-01 0.00000000e+00 -3.24495074e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.17129246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.005336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.26, Y:-0.33, Z:-0.07 [[ 9.99881876e-01 1.53699253e-02 0.00000000e+00 2.12625055e+01] [-1.53699253e-02 9.99881876e-01 0.00000000e+00 -3.27466623e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.13478029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.035336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:21.29, Y:-0.32, Z:-0.07 [[ 9.99858108e-01 1.68453088e-02 0.00000000e+00 2.12906879e+01] [-1.68453088e-02 9.99858108e-01 0.00000000e+00 -3.24863673e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04782567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.065336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.32, Y:-0.32, Z:-0.07 [[ 9.99845068e-01 1.76022566e-02 0.00000000e+00 2.13190646e+01] [-1.76022566e-02 9.99845068e-01 0.00000000e+00 -3.24708342e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02870040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.095336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.35, Y:-0.33, Z:-0.07 [[ 9.99799022e-01 2.00478441e-02 0.00000000e+00 2.13482193e+01] [-2.00478441e-02 9.99799022e-01 0.00000000e+00 -3.27625682e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05381869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.125336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:21.38, Y:-0.33, Z:-0.07 [[ 9.99786168e-01 2.06789429e-02 0.00000000e+00 2.13754373e+01] [-2.06789429e-02 9.99786168e-01 0.00000000e+00 -3.29427401e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36468235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.155336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.40, Y:-0.33, Z:-0.08 [[ 9.99787310e-01 2.06236223e-02 0.00000000e+00 2.14039570e+01] [-2.06236223e-02 9.99787310e-01 0.00000000e+00 -3.34376565e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.64764572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.185336195 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:21.43, Y:-0.34, Z:-0.08 [[ 9.99813804e-01 1.92965745e-02 0.00000000e+00 2.14314238e+01] [-1.92965745e-02 9.99813804e-01 0.00000000e+00 -3.38123869e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.20379302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.215336195000003 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:21.46, Y:-0.34, Z:-0.08 [[ 9.99810982e-01 1.94422097e-02 0.00000000e+00 2.14597174e+01] [-1.94422097e-02 9.99810982e-01 0.00000000e+00 -3.38115509e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.68074377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.49, Y:-0.34, Z:-0.08 [[ 9.99810730e-01 1.94551713e-02 0.00000000e+00 2.14885922e+01] [-1.94551713e-02 9.99810730e-01 0.00000000e+00 -3.39108856e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.60864328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.275336195 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:21.52, Y:-0.34, Z:-0.07 [[ 9.99820571e-01 1.89426934e-02 0.00000000e+00 2.15168680e+01] [-1.89426934e-02 9.99820571e-01 0.00000000e+00 -3.41560998e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25233685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.305336195000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.54, Y:-0.34, Z:-0.07 [[ 9.99811153e-01 1.94334354e-02 0.00000000e+00 2.15444979e+01] [-1.94334354e-02 9.99811153e-01 0.00000000e+00 -3.41959685e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37190102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.335336195 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:21.57, Y:-0.34, Z:-0.07 [[ 9.99789724e-01 2.05063042e-02 0.00000000e+00 2.15739197e+01] [-2.05063042e-02 9.99789724e-01 0.00000000e+00 -3.36736362e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.15954084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.365336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:21.60, Y:-0.34, Z:-0.07 [[ 9.99771438e-01 2.13792249e-02 0.00000000e+00 2.16015131e+01] [-2.13792249e-02 9.99771438e-01 0.00000000e+00 -3.35885418e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.43428834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.395336195000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.63, Y:-0.34, Z:-0.08 [[ 0.99976312 0.02176466 0. 21.63019521] [-0.02176466 0.99976312 0. -0.3397266 ] [ 0. 0. 1. -0.08054606] [ 0. 0. 0. 1. ]] SLAMing on 21.425336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.66, Y:-0.34, Z:-0.08 [[ 9.99804542e-01 1.97706078e-02 0.00000000e+00 2.16588166e+01] [-1.97706078e-02 9.99804542e-01 0.00000000e+00 -3.37031299e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.59479914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.455336195 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:21.69, Y:-0.33, Z:-0.08 [[ 9.99848740e-01 1.73924226e-02 0.00000000e+00 2.16868698e+01] [-1.73924226e-02 9.99848740e-01 0.00000000e+00 -3.34432705e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.71033153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.485336195000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:21.71, Y:-0.33, Z:-0.08 [[ 9.99902554e-01 1.39600470e-02 0.00000000e+00 2.17146016e+01] [-1.39600470e-02 9.99902554e-01 0.00000000e+00 -3.31314897e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.72053146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.515336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.33, Z:-0.08 [[ 9.99919865e-01 1.26595291e-02 0.00000000e+00 2.17435506e+01] [-1.26595291e-02 9.99919865e-01 0.00000000e+00 -3.31266853e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52942169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.545336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:21.77, Y:-0.33, Z:-0.07 [[ 9.99935163e-01 1.13873032e-02 0.00000000e+00 2.17718970e+01] [-1.13873032e-02 9.99935163e-01 0.00000000e+00 -3.32052130e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38777299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.575336195000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.80, Y:-0.33, Z:-0.08 [[ 9.99937377e-01 1.11911912e-02 0.00000000e+00 2.18009448e+01] [-1.11911912e-02 9.99937377e-01 0.00000000e+00 -3.32905550e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.51737197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.605336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:21.83, Y:-0.33, Z:-0.07 [[ 9.99922554e-01 1.24452970e-02 0.00000000e+00 2.18283240e+01] [-1.24452970e-02 9.99922554e-01 0.00000000e+00 -3.27849748e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.32776835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.635336195 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:21.86, Y:-0.32, Z:-0.07 [[ 9.99878814e-01 1.55678037e-02 0.00000000e+00 2.18571163e+01] [-1.55678037e-02 9.99878814e-01 0.00000000e+00 -3.15715069e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.85510104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.665336195000002 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:21.89, Y:-0.31, Z:-0.07 [[ 9.99861580e-01 1.66379093e-02 0.00000000e+00 2.18858708e+01] [-1.66379093e-02 9.99861580e-01 0.00000000e+00 -3.12533317e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.94237518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.695336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.91, Y:-0.31, Z:-0.08 [[ 9.99850565e-01 1.72872329e-02 0.00000000e+00 2.19134145e+01] [-1.72872329e-02 9.99850565e-01 0.00000000e+00 -3.11917699e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61422376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.725336195 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:21.94, Y:-0.31, Z:-0.08 [[ 9.99874776e-01 1.58250545e-02 0.00000000e+00 2.19419731e+01] [-1.58250545e-02 9.99874776e-01 0.00000000e+00 -3.12907173e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.18721033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.755336195 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:21.97, Y:-0.31, Z:-0.07 [[ 9.99904044e-01 1.38528924e-02 0.00000000e+00 2.19698949e+01] [-1.38528924e-02 9.99904044e-01 0.00000000e+00 -3.09485972e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30253711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.785336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:22.00, Y:-0.30, Z:-0.07 [[ 9.99963040e-01 8.59760076e-03 0.00000000e+00 2.19973588e+01] [-8.59760076e-03 9.99963040e-01 0.00000000e+00 -2.99203402e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.71228681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.815336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.03, Y:-0.30, Z:-0.06 [[ 9.99985725e-01 5.34315103e-03 0.00000000e+00 2.20260935e+01] [-5.34315103e-03 9.99985725e-01 0.00000000e+00 -2.96357198e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29897641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.845336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:22.05, Y:-0.30, Z:-0.07 [[ 9.99999726e-01 -7.40690619e-04 0.00000000e+00 2.20534123e+01] [ 7.40690619e-04 9.99999726e-01 0.00000000e+00 -3.00643602e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29458356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.875336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:22.09, Y:-0.30, Z:-0.07 [[ 9.99999741e-01 -7.19187752e-04 0.00000000e+00 2.20852522e+01] [ 7.19187752e-04 9.99999741e-01 0.00000000e+00 -3.01254636e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29458356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.905336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:22.12, Y:-0.31, Z:-0.08 [[ 9.99993350e-01 -3.64685648e-03 0.00000000e+00 2.21169064e+01] [ 3.64685648e-03 9.99993350e-01 0.00000000e+00 -3.07591860e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.71969581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.935336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.15, Y:-0.31, Z:-0.08 [[ 9.99966952e-01 -8.12989268e-03 0.00000000e+00 2.21482044e+01] [ 8.12989268e-03 9.99966952e-01 0.00000000e+00 -3.13867676e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.37724090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.965336195000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:22.18, Y:-0.31, Z:-0.08 [[ 9.99955187e-01 -9.46696731e-03 0.00000000e+00 2.21799112e+01] [ 9.46696731e-03 9.99955187e-01 0.00000000e+00 -3.11729890e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.31389201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.995336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:22.21, Y:-0.31, Z:-0.08 [[ 9.99950686e-01 -9.93107473e-03 0.00000000e+00 2.22109385e+01] [ 9.93107473e-03 9.99950686e-01 0.00000000e+00 -3.06310565e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.18573943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.025336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:22.24, Y:-0.31, Z:-0.08 [[ 9.99968317e-01 -7.96020337e-03 0.00000000e+00 2.22434265e+01] [ 7.96020337e-03 9.99968317e-01 0.00000000e+00 -3.06099643e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.31503964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.055336195000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:22.28, Y:-0.31, Z:-0.08 [[ 9.99988952e-01 -4.70063161e-03 0.00000000e+00 2.22753216e+01] [ 4.70063161e-03 9.99988952e-01 0.00000000e+00 -3.11956488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.96568848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.085336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:22.31, Y:-0.32, Z:-0.08 [[ 9.99996238e-01 -2.74291637e-03 0.00000000e+00 2.23060735e+01] [ 2.74291637e-03 9.99996238e-01 0.00000000e+00 -3.17048465e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.07650785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.115336195 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:22.34, Y:-0.32, Z:-0.08 [[ 9.99999903e-01 -4.39360069e-04 0.00000000e+00 2.23373992e+01] [ 4.39360069e-04 9.99999903e-01 0.00000000e+00 -3.21348454e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.95562966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.145336195000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:22.37, Y:-0.32, Z:-0.07 [[ 9.99993057e-01 3.72641440e-03 0.00000000e+00 2.23678160e+01] [-3.72641440e-03 9.99993057e-01 0.00000000e+00 -3.24593817e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.28570218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.175336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:22.40, Y:-0.32, Z:-0.07 [[ 9.99969021e-01 7.87128970e-03 0.00000000e+00 2.23958356e+01] [-7.87128970e-03 9.99969021e-01 0.00000000e+00 -3.21108634e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00761944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.205336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.32, Z:-0.07 [[ 9.99945887e-01 1.04030754e-02 0.00000000e+00 2.24240793e+01] [-1.04030754e-02 9.99945887e-01 0.00000000e+00 -3.17816716e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.83446624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.235336195000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:22.45, Y:-0.32, Z:-0.07 [[ 9.99907015e-01 1.36367322e-02 0.00000000e+00 2.24532909e+01] [-1.36367322e-02 9.99907015e-01 0.00000000e+00 -3.17082783e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.89105478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.265336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.32, Z:-0.08 [[ 9.99800206e-01 1.99887001e-02 0.00000000e+00 2.24806625e+01] [-1.99887001e-02 9.99800206e-01 0.00000000e+00 -3.23573606e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.51712688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.295336195 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:22.51, Y:-0.33, Z:-0.08 [[ 9.99765013e-01 2.16775891e-02 0.00000000e+00 2.25097178e+01] [-2.16775891e-02 9.99765013e-01 0.00000000e+00 -3.27663421e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.72418860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.325336195000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:22.54, Y:-0.33, Z:-0.07 [[ 0.99973253 0.02312725 0. 22.53798334] [-0.02312725 0.99973253 0. -0.32600241] [ 0. 0. 1. -0.06953544] [ 0. 0. 0. 1. ]] SLAMing on 22.355336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:22.57, Y:-0.32, Z:-0.07 [[ 9.99747206e-01 2.24838495e-02 0.00000000e+00 2.25652960e+01] [-2.24838495e-02 9.99747206e-01 0.00000000e+00 -3.20980816e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.72890974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.385336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.59, Y:-0.32, Z:-0.07 [[ 9.99805125e-01 1.97411324e-02 0.00000000e+00 2.25944847e+01] [-1.97411324e-02 9.99805125e-01 0.00000000e+00 -3.18199938e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.67942417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.415336195000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:22.62, Y:-0.32, Z:-0.07 [[ 9.99837335e-01 1.80361742e-02 0.00000000e+00 2.26210925e+01] [-1.80361742e-02 9.99837335e-01 0.00000000e+00 -3.20972785e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04453488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.445336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.33, Z:-0.07 [[ 9.99902151e-01 1.39888420e-02 0.00000000e+00 2.26501189e+01] [-1.39888420e-02 9.99902151e-01 0.00000000e+00 -3.26383933e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30892432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.68, Y:-0.33, Z:-0.08 [[ 9.99931101e-01 1.17385380e-02 0.00000000e+00 2.26775705e+01] [-1.17385380e-02 9.99931101e-01 0.00000000e+00 -3.28500246e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.74036709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.505336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:22.71, Y:-0.33, Z:-0.07 [[ 9.99967246e-01 8.09363394e-03 0.00000000e+00 2.27063355e+01] [-8.09363394e-03 9.99967246e-01 0.00000000e+00 -3.29762200e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.23396497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.535336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:22.73, Y:-0.33, Z:-0.07 [[ 9.99979674e-01 6.37589380e-03 0.00000000e+00 2.27342937e+01] [-6.37589380e-03 9.99979674e-01 0.00000000e+00 -3.30882397e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.20287537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.565336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.76, Y:-0.33, Z:-0.07 [[ 9.99994986e-01 3.16662362e-03 0.00000000e+00 2.27629372e+01] [-3.16662362e-03 9.99994986e-01 0.00000000e+00 -3.32006375e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.97175552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.595336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:22.79, Y:-0.33, Z:-0.07 [[ 9.99997314e-01 2.31797105e-03 0.00000000e+00 2.27909033e+01] [-2.31797105e-03 9.99997314e-01 0.00000000e+00 -3.32089308e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.26798060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.625336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:22.82, Y:-0.33, Z:-0.07 [[ 9.99999995e-01 1.02409830e-04 0.00000000e+00 2.28194737e+01] [-1.02409830e-04 9.99999995e-01 0.00000000e+00 -3.34846580e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.33333918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.655336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:22.85, Y:-0.34, Z:-0.08 [[ 9.99999464e-01 -1.03570219e-03 0.00000000e+00 2.28488902e+01] [ 1.03570219e-03 9.99999464e-01 0.00000000e+00 -3.37976774e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.53034387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.685336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:22.88, Y:-0.34, Z:-0.07 [[ 9.99999864e-01 5.21633278e-04 0.00000000e+00 2.28793935e+01] [-5.21633278e-04 9.99999864e-01 0.00000000e+00 -3.40442622e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.47918164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.715336195000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.91, Y:-0.34, Z:-0.07 [[ 9.99998676e-01 1.62754550e-03 0.00000000e+00 2.29095822e+01] [-1.62754550e-03 9.99998676e-01 0.00000000e+00 -3.40796996e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07443133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.745336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:22.94, Y:-0.34, Z:-0.07 [[ 9.99988533e-01 4.78886863e-03 0.00000000e+00 2.29385291e+01] [-4.78886863e-03 9.99988533e-01 0.00000000e+00 -3.41344296e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.09694267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.775336195 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:22.97, Y:-0.34, Z:-0.07 [[ 9.99976191e-01 6.90057195e-03 0.00000000e+00 2.29660139e+01] [-6.90057195e-03 9.99976191e-01 0.00000000e+00 -3.42249434e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07542042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.805336195000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.99, Y:-0.35, Z:-0.07 [[ 9.99937938e-01 1.11409554e-02 0.00000000e+00 2.29939464e+01] [-1.11409554e-02 9.99937938e-01 0.00000000e+00 -3.46072417e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.28750599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.835336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:23.02, Y:-0.35, Z:-0.07 [[ 9.99933520e-01 1.15306010e-02 0.00000000e+00 2.30228025e+01] [-1.15306010e-02 9.99933520e-01 0.00000000e+00 -3.45431095e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.41906211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.865336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:23.05, Y:-0.34, Z:-0.07 [[ 9.99926845e-01 1.20956571e-02 0.00000000e+00 2.30518115e+01] [-1.20956571e-02 9.99926845e-01 0.00000000e+00 -3.43561777e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38196051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.895336195000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:23.08, Y:-0.34, Z:-0.08 [[ 9.99920259e-01 1.26283574e-02 0.00000000e+00 2.30793311e+01] [-1.26283574e-02 9.99920259e-01 0.00000000e+00 -3.42397817e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.83894573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.925336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:23.11, Y:-0.34, Z:-0.07 [[ 9.99920083e-01 1.26422755e-02 0.00000000e+00 2.31078486e+01] [-1.26422755e-02 9.99920083e-01 0.00000000e+00 -3.42580446e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08065937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.955336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:23.14, Y:-0.35, Z:-0.07 [[ 9.99935246e-01 1.13800059e-02 0.00000000e+00 2.31351149e+01] [-1.13800059e-02 9.99935246e-01 0.00000000e+00 -3.45332770e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38021267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.985336195000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:23.16, Y:-0.35, Z:-0.08 [[ 9.99961180e-01 8.81122317e-03 0.00000000e+00 2.31638461e+01] [-8.81122317e-03 9.99961180e-01 0.00000000e+00 -3.52718903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.68841819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.015336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:23.19, Y:-0.35, Z:-0.08 [[ 9.99976592e-01 6.84216700e-03 0.00000000e+00 2.31921397e+01] [-6.84216700e-03 9.99976592e-01 0.00000000e+00 -3.53492105e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.58832016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.045336195 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:23.22, Y:-0.35, Z:-0.07 [[ 9.99986722e-01 5.15315910e-03 0.00000000e+00 2.32210194e+01] [-5.15315910e-03 9.99986722e-01 0.00000000e+00 -3.50427035e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29619095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.075336195000002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:23.25, Y:-0.35, Z:-0.07 [[ 9.99991827e-01 4.04312649e-03 0.00000000e+00 2.32499680e+01] [-4.04312649e-03 9.99991827e-01 0.00000000e+00 -3.46758911e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.86322622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.105336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:23.28, Y:-0.36, Z:-0.08 [[ 9.99988947e-01 4.70170098e-03 0.00000000e+00 2.32775244e+01] [-4.70170098e-03 9.99988947e-01 0.00000000e+00 -3.55901054e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52556136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.135336195 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:23.31, Y:-0.36, Z:-0.08 [[ 9.99989616e-01 4.55718241e-03 0.00000000e+00 2.33054903e+01] [-4.55718241e-03 9.99989616e-01 0.00000000e+00 -3.59379898e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.84689156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.165336195000002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:23.33, Y:-0.36, Z:-0.07 [[ 9.99994206e-01 3.40405458e-03 0.00000000e+00 2.33342315e+01] [-3.40405458e-03 9.99994206e-01 0.00000000e+00 -3.57207577e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38243812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.195336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:23.36, Y:-0.36, Z:-0.07 [[ 9.99995919e-01 2.85708005e-03 0.00000000e+00 2.33635536e+01] [-2.85708005e-03 9.99995919e-01 0.00000000e+00 -3.55338094e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11443108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.225336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.39, Y:-0.36, Z:-0.07 [[ 9.99997431e-01 2.26657324e-03 0.00000000e+00 2.33928218e+01] [-2.26657324e-03 9.99997431e-01 0.00000000e+00 -3.57482174e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76165753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.255336195 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:23.42, Y:-0.36, Z:-0.07 [[ 9.99997154e-01 2.38582656e-03 0.00000000e+00 2.34219085e+01] [-2.38582656e-03 9.99997154e-01 0.00000000e+00 -3.60095987e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.82225446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.285336195 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:23.45, Y:-0.36, Z:-0.07 [[ 9.99987720e-01 4.95573685e-03 0.00000000e+00 2.34503693e+01] [-4.95573685e-03 9.99987720e-01 0.00000000e+00 -3.64369865e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02872121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.315336195 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:23.48, Y:-0.37, Z:-0.07 [[ 9.99978438e-01 6.56682781e-03 0.00000000e+00 2.34783611e+01] [-6.56682781e-03 9.99978438e-01 0.00000000e+00 -3.65694965e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02187627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.345336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:23.51, Y:-0.36, Z:-0.06 [[ 9.99933539e-01 1.15290012e-02 0.00000000e+00 2.35071471e+01] [-1.15290012e-02 9.99933539e-01 0.00000000e+00 -3.64010403e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.42003704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.375336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.53, Y:-0.36, Z:-0.07 [[ 9.99899696e-01 1.41632402e-02 0.00000000e+00 2.35346705e+01] [-1.41632402e-02 9.99899696e-01 0.00000000e+00 -3.63822362e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.71948128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.405336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:23.56, Y:-0.36, Z:-0.07 [[ 9.99872679e-01 1.59570083e-02 0.00000000e+00 2.35630240e+01] [-1.59570083e-02 9.99872679e-01 0.00000000e+00 -3.63449794e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14479153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.435336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:23.59, Y:-0.37, Z:-0.07 [[ 9.99841428e-01 1.78078190e-02 0.00000000e+00 2.35917587e+01] [-1.78078190e-02 9.99841428e-01 0.00000000e+00 -3.65179935e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37114973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.465336195000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:23.62, Y:-0.37, Z:-0.07 [[ 9.99880416e-01 1.54646258e-02 0.00000000e+00 2.36202461e+01] [-1.54646258e-02 9.99880416e-01 0.00000000e+00 -3.71659367e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.48834047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.495336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.65, Y:-0.37, Z:-0.07 [[ 9.99917228e-01 1.28661589e-02 0.00000000e+00 2.36486129e+01] [-1.28661589e-02 9.99917228e-01 0.00000000e+00 -3.71395935e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02319312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.525336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.68, Y:-0.37, Z:-0.07 [[ 9.99974225e-01 7.17985250e-03 0.00000000e+00 2.36768186e+01] [-7.17985250e-03 9.99974225e-01 0.00000000e+00 -3.68994428e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75795567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.555336195000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:23.70, Y:-0.37, Z:-0.07 [[ 9.99989931e-01 4.48755540e-03 0.00000000e+00 2.37049353e+01] [-4.48755540e-03 9.99989931e-01 0.00000000e+00 -3.72332969e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.85723580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.585336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:23.73, Y:-0.38, Z:-0.07 [[ 9.99996550e-01 2.62660140e-03 0.00000000e+00 2.37327004e+01] [-2.62660140e-03 9.99996550e-01 0.00000000e+00 -3.79289868e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01457232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.615336195 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:23.76, Y:-0.38, Z:-0.07 [[ 9.99998056e-01 1.97191324e-03 0.00000000e+00 2.37612492e+01] [-1.97191324e-03 9.99998056e-01 0.00000000e+00 -3.81356655e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.06470425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.645336195000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.79, Y:-0.38, Z:-0.07 [[ 9.99995062e-01 3.14270686e-03 0.00000000e+00 2.37912461e+01] [-3.14270686e-03 9.99995062e-01 0.00000000e+00 -3.82943657e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88118819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.675336195 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:23.82, Y:-0.38, Z:-0.06 [[ 9.99991089e-01 4.22161536e-03 0.00000000e+00 2.38200403e+01] [-4.22161536e-03 9.99991089e-01 0.00000000e+00 -3.79961525e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47804838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.705336195 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:23.85, Y:-0.38, Z:-0.07 [[ 9.99974350e-01 7.16240240e-03 0.00000000e+00 2.38474466e+01] [-7.16240240e-03 9.99974350e-01 0.00000000e+00 -3.77673575e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88586028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.735336195000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.88, Y:-0.38, Z:-0.07 [[ 9.99959077e-01 9.04674221e-03 0.00000000e+00 2.38751782e+01] [-9.04674221e-03 9.99959077e-01 0.00000000e+00 -3.80986521e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.28940537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.765336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:23.90, Y:-0.38, Z:-0.08 [[ 9.99951296e-01 9.86945907e-03 0.00000000e+00 2.39029654e+01] [-9.86945907e-03 9.99951296e-01 0.00000000e+00 -3.84649244e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.69668138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.795336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:23.93, Y:-0.38, Z:-0.08 [[ 9.99951956e-01 9.80228304e-03 0.00000000e+00 2.39314050e+01] [-9.80228304e-03 9.99951956e-01 0.00000000e+00 -3.84958436e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.69668138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.825336195000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.96, Y:-0.39, Z:-0.07 [[ 9.99953845e-01 9.60770351e-03 0.00000000e+00 2.39600424e+01] [-9.60770351e-03 9.99953845e-01 0.00000000e+00 -3.87843174e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46047081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.855336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:23.99, Y:-0.38, Z:-0.07 [[ 9.99973286e-01 7.30937789e-03 0.00000000e+00 2.39891727e+01] [-7.30937789e-03 9.99973286e-01 0.00000000e+00 -3.84846547e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.39052051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.885336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:24.02, Y:-0.38, Z:-0.08 [[ 9.99980675e-01 6.21687452e-03 0.00000000e+00 2.40171530e+01] [-6.21687452e-03 9.99980675e-01 0.00000000e+00 -3.82749254e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.62770197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.915336195000002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:24.05, Y:-0.38, Z:-0.07 [[ 9.99987867e-01 4.92609943e-03 0.00000000e+00 2.40454447e+01] [-4.92609943e-03 9.99987867e-01 0.00000000e+00 -3.83340559e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.12851973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.945336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:24.07, Y:-0.39, Z:-0.07 [[ 9.99987391e-01 5.02183458e-03 0.00000000e+00 2.40728356e+01] [-5.02183458e-03 9.99987391e-01 0.00000000e+00 -3.86863818e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.18561969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.975336195 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:24.10, Y:-0.39, Z:-0.07 [[ 9.99986966e-01 5.10566232e-03 0.00000000e+00 2.41018739e+01] [-5.10566232e-03 9.99986966e-01 0.00000000e+00 -3.90859429e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.09413158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.005336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.13, Y:-0.39, Z:-0.07 [[ 9.99986224e-01 5.24897404e-03 0.00000000e+00 2.41310577e+01] [-5.24897404e-03 9.99986224e-01 0.00000000e+00 -3.91890107e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.79129262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.035336195 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:24.16, Y:-0.39, Z:-0.07 [[ 9.99991824e-01 4.04387435e-03 0.00000000e+00 2.41591434e+01] [-4.04387435e-03 9.99991824e-01 0.00000000e+00 -3.85744596e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.90950136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.065336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.19, Y:-0.38, Z:-0.07 [[ 9.99996764e-01 2.54415971e-03 0.00000000e+00 2.41880535e+01] [-2.54415971e-03 9.99996764e-01 0.00000000e+00 -3.78252864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.71522477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.095336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:24.22, Y:-0.39, Z:-0.08 [[ 1.00000000e+00 2.56115048e-05 0.00000000e+00 2.42173366e+01] [-2.56115048e-05 1.00000000e+00 0.00000000e+00 -3.85513210e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.69614716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.125336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.25, Y:-0.39, Z:-0.08 [[ 9.99999967e-01 -2.55252175e-04 0.00000000e+00 2.42481140e+01] [ 2.55252175e-04 9.99999967e-01 0.00000000e+00 -3.87968015e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.78467236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.155336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:24.28, Y:-0.39, Z:-0.08 [[ 9.99999964e-01 2.69965539e-04 0.00000000e+00 2.42787173e+01] [-2.69965539e-04 9.99999964e-01 0.00000000e+00 -3.87456073e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.88150626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.185336195 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:24.31, Y:-0.39, Z:-0.08 [[ 9.99999875e-01 5.00363158e-04 0.00000000e+00 2.43083561e+01] [-5.00363158e-04 9.99999875e-01 0.00000000e+00 -3.86787025e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.97151309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.215336195000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:24.34, Y:-0.38, Z:-0.07 [[ 9.99996412e-01 2.67886746e-03 0.00000000e+00 2.43391825e+01] [-2.67886746e-03 9.99996412e-01 0.00000000e+00 -3.82933633e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.03460280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.245336195 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:24.37, Y:-0.38, Z:-0.07 [[ 9.99994087e-01 3.43890321e-03 0.00000000e+00 2.43677663e+01] [-3.43890321e-03 9.99994087e-01 0.00000000e+00 -3.79302777e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.71215009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.40, Y:-0.38, Z:-0.07 [[ 9.99992225e-01 3.94327656e-03 0.00000000e+00 2.43962787e+01] [-3.94327656e-03 9.99992225e-01 0.00000000e+00 -3.81771526e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.96571848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.305336195000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.39, Z:-0.07 [[ 9.99990962e-01 4.25166039e-03 0.00000000e+00 2.44241038e+01] [-4.25166039e-03 9.99990962e-01 0.00000000e+00 -3.85041600e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07542101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.45, Y:-0.38, Z:-0.07 [[ 9.99979547e-01 6.39569975e-03 0.00000000e+00 2.44531562e+01] [-6.39569975e-03 9.99979547e-01 0.00000000e+00 -3.80114098e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.55478583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.365336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:24.48, Y:-0.38, Z:-0.07 [[ 9.99975389e-01 7.01573980e-03 0.00000000e+00 2.44807551e+01] [-7.01573980e-03 9.99975389e-01 0.00000000e+00 -3.75848316e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.83012142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.395336195000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:24.51, Y:-0.37, Z:-0.07 [[ 9.99979823e-01 6.35247786e-03 0.00000000e+00 2.45098610e+01] [-6.35247786e-03 9.99979823e-01 0.00000000e+00 -3.68964050e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.94901282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.425336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:24.54, Y:-0.37, Z:-0.07 [[ 9.99980912e-01 6.17863235e-03 0.00000000e+00 2.45377519e+01] [-6.17863235e-03 9.99980912e-01 0.00000000e+00 -3.66373431e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.19622503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.455336195 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:24.57, Y:-0.36, Z:-0.07 [[ 9.99982802e-01 5.86470337e-03 0.00000000e+00 2.45653003e+01] [-5.86470337e-03 9.99982802e-01 0.00000000e+00 -3.64679400e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.34649217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.485336195000002 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:24.59, Y:-0.37, Z:-0.07 [[ 9.99978789e-01 6.51311882e-03 0.00000000e+00 2.45943734e+01] [-6.51311882e-03 9.99978789e-01 0.00000000e+00 -3.65168183e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42056750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.515336195 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:24.62, Y:-0.36, Z:-0.08 [[ 9.99974305e-01 7.16861493e-03 0.00000000e+00 2.46226453e+01] [-7.16861493e-03 9.99974305e-01 0.00000000e+00 -3.62861781e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.82624661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.545336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:24.65, Y:-0.36, Z:-0.07 [[ 9.99972628e-01 7.39882129e-03 0.00000000e+00 2.46515378e+01] [-7.39882129e-03 9.99972628e-01 0.00000000e+00 -3.59104565e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.91147392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.575336195000002 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:24.68, Y:-0.36, Z:-0.07 [[ 9.99971957e-01 7.48898976e-03 0.00000000e+00 2.46805215e+01] [-7.48898976e-03 9.99971957e-01 0.00000000e+00 -3.55148965e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.53026124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.605336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:24.71, Y:-0.35, Z:-0.07 [[ 9.99964124e-01 8.47054262e-03 0.00000000e+00 2.47086841e+01] [-8.47054262e-03 9.99964124e-01 0.00000000e+00 -3.50696153e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63524892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.635336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:24.74, Y:-0.35, Z:-0.07 [[ 9.99972469e-01 7.42034640e-03 0.00000000e+00 2.47365154e+01] [-7.42034640e-03 9.99972469e-01 0.00000000e+00 -3.46238974e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.68141643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.665336195000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:24.76, Y:-0.35, Z:-0.07 [[ 9.99979423e-01 6.41514386e-03 0.00000000e+00 2.47642775e+01] [-6.41514386e-03 9.99979423e-01 0.00000000e+00 -3.46100476e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.89900971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.695336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:24.79, Y:-0.35, Z:-0.07 [[ 9.99997744e-01 2.12422136e-03 0.00000000e+00 2.47933001e+01] [-2.12422136e-03 9.99997744e-01 0.00000000e+00 -3.46350106e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99956653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.725336195 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:24.82, Y:-0.35, Z:-0.07 [[ 9.99999245e-01 -1.22857197e-03 0.00000000e+00 2.48222590e+01] [ 1.22857197e-03 9.99999245e-01 0.00000000e+00 -3.45708859e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.35080836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.85, Y:-0.34, Z:-0.07 [[ 9.99965597e-01 -8.29482130e-03 0.00000000e+00 2.48536543e+01] [ 8.29482130e-03 9.99965597e-01 0.00000000e+00 -3.42645440e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.31434714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.785336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:24.89, Y:-0.34, Z:-0.07 [[ 9.99935601e-01 -1.13487211e-02 0.00000000e+00 2.48863669e+01] [ 1.13487211e-02 9.99935601e-01 0.00000000e+00 -3.40587178e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66555321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.815336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:24.92, Y:-0.34, Z:-0.07 [[ 9.99882108e-01 -1.53548369e-02 0.00000000e+00 2.49176082e+01] [ 1.53548369e-02 9.99882108e-01 0.00000000e+00 -3.42346731e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81712258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.845336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.95, Y:-0.35, Z:-0.07 [[ 9.99834301e-01 -1.82035724e-02 0.00000000e+00 2.49491367e+01] [ 1.82035724e-02 9.99834301e-01 0.00000000e+00 -3.51203424e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76208232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.875336195 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:24.98, Y:-0.35, Z:-0.07 [[ 9.99835327e-01 -1.81471458e-02 0.00000000e+00 2.49814968e+01] [ 1.81471458e-02 9.99835327e-01 0.00000000e+00 -3.53235904e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76655656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.905336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.01, Y:-0.35, Z:-0.07 [[ 9.99851406e-01 -1.72385235e-02 0.00000000e+00 2.50126623e+01] [ 1.72385235e-02 9.99851406e-01 0.00000000e+00 -3.54254695e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.83014042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.935336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:25.04, Y:-0.35, Z:-0.07 [[ 9.99875539e-01 -1.57767620e-02 0.00000000e+00 2.50440873e+01] [ 1.57767620e-02 9.99875539e-01 0.00000000e+00 -3.51170516e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.54416709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.965336195000003 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:25.08, Y:-0.35, Z:-0.06 [[ 9.99893380e-01 -1.46023728e-02 0.00000000e+00 2.50768436e+01] [ 1.46023728e-02 9.99893380e-01 0.00000000e+00 -3.48969913e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35582338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.995336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:25.11, Y:-0.35, Z:-0.07 [[ 9.99927138e-01 -1.20713669e-02 0.00000000e+00 2.51077110e+01] [ 1.20713669e-02 9.99927138e-01 0.00000000e+00 -3.52357822e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75881492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.025336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.14, Y:-0.36, Z:-0.07 [[ 9.99960976e-01 -8.83438285e-03 0.00000000e+00 2.51391504e+01] [ 8.83438285e-03 9.99960976e-01 0.00000000e+00 -3.61450697e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.77403228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.055336195000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.17, Y:-0.36, Z:-0.07 [[ 9.99970703e-01 -7.65460121e-03 0.00000000e+00 2.51707086e+01] [ 7.65460121e-03 9.99970703e-01 0.00000000e+00 -3.62882243e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05155141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.085336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:25.20, Y:-0.36, Z:-0.07 [[ 9.99985879e-01 -5.31429783e-03 0.00000000e+00 2.52028870e+01] [ 5.31429783e-03 9.99985879e-01 0.00000000e+00 -3.57766919e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.59651707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.115336195 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:25.23, Y:-0.36, Z:-0.07 [[ 9.99992702e-01 -3.82057179e-03 0.00000000e+00 2.52340896e+01] [ 3.82057179e-03 9.99992702e-01 0.00000000e+00 -3.55919583e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62399238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.145336195000002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:25.27, Y:-0.36, Z:-0.07 [[ 9.99998806e-01 -1.54512922e-03 0.00000000e+00 2.52655402e+01] [ 1.54512922e-03 9.99998806e-01 0.00000000e+00 -3.59582915e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07680406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.175336195 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:25.30, Y:-0.36, Z:-0.07 [[ 9.99999177e-01 -1.28313649e-03 0.00000000e+00 2.52965555e+01] [ 1.28313649e-03 9.99999177e-01 0.00000000e+00 -3.64834075e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.41868494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.205336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:25.33, Y:-0.37, Z:-0.08 [[ 9.99999419e-01 -1.07787270e-03 0.00000000e+00 2.53274923e+01] [ 1.07787270e-03 9.99999419e-01 0.00000000e+00 -3.70632301e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.60915291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.235336195000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:25.36, Y:-0.37, Z:-0.08 [[ 9.99999696e-01 -7.79645890e-04 0.00000000e+00 2.53581684e+01] [ 7.79645890e-04 9.99999696e-01 0.00000000e+00 -3.69301196e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.54399067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.39, Y:-0.37, Z:-0.07 [[ 9.99999583e-01 -9.13593901e-04 0.00000000e+00 2.53899765e+01] [ 9.13593901e-04 9.99999583e-01 0.00000000e+00 -3.68762193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.97744919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.295336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.42, Y:-0.37, Z:-0.07 [[ 9.99998900e-01 -1.48348881e-03 0.00000000e+00 2.54217283e+01] [ 1.48348881e-03 9.99998900e-01 0.00000000e+00 -3.71423267e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.96074908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.325336195000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.45, Y:-0.38, Z:-0.07 [[ 9.99993030e-01 -3.73354117e-03 0.00000000e+00 2.54523036e+01] [ 3.73354117e-03 9.99993030e-01 0.00000000e+00 -3.80740338e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.33013937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.355336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:25.48, Y:-0.39, Z:-0.07 [[ 9.99985646e-01 -5.35793544e-03 0.00000000e+00 2.54835147e+01] [ 5.35793544e-03 9.99985646e-01 0.00000000e+00 -3.86095620e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38068091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.385336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:25.52, Y:-0.39, Z:-0.07 [[ 9.99970772e-01 -7.64560787e-03 0.00000000e+00 2.55165121e+01] [ 7.64560787e-03 9.99970772e-01 0.00000000e+00 -3.91979379e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01749844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.415336195000002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:25.55, Y:-0.40, Z:-0.07 [[ 9.99964898e-01 -8.37867413e-03 0.00000000e+00 2.55489308e+01] [ 8.37867413e-03 9.99964898e-01 0.00000000e+00 -3.95344771e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.06338636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.445336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:25.58, Y:-0.40, Z:-0.07 [[ 9.99961020e-01 -8.82937706e-03 0.00000000e+00 2.55803366e+01] [ 8.82937706e-03 9.99961020e-01 0.00000000e+00 -4.03522322e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.33527055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.475336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:25.61, Y:-0.41, Z:-0.07 [[ 9.99962359e-01 -8.67646225e-03 0.00000000e+00 2.56125661e+01] [ 8.67646225e-03 9.99962359e-01 0.00000000e+00 -4.05837351e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30820795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.505336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:25.64, Y:-0.41, Z:-0.07 [[ 9.99975434e-01 -7.00932556e-03 0.00000000e+00 2.56436523e+01] [ 7.00932556e-03 9.99975434e-01 0.00000000e+00 -4.10519406e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42066373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.68, Y:-0.42, Z:-0.07 [[ 9.99984581e-01 -5.55325862e-03 0.00000000e+00 2.56762287e+01] [ 5.55325862e-03 9.99984581e-01 0.00000000e+00 -4.17084313e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30569059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.565336195 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:25.71, Y:-0.43, Z:-0.07 [[ 9.99995514e-01 -2.99524385e-03 0.00000000e+00 2.57087833e+01] [ 2.99524385e-03 9.99995514e-01 0.00000000e+00 -4.28115375e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46722019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.595336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.74, Y:-0.43, Z:-0.07 [[ 9.99999425e-01 -1.07216980e-03 0.00000000e+00 2.57394607e+01] [ 1.07216980e-03 9.99999425e-01 0.00000000e+00 -4.28947374e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.15402213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.625336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:25.77, Y:-0.43, Z:-0.07 [[ 9.99999856e-01 -5.36736890e-04 0.00000000e+00 2.57700012e+01] [ 5.36736890e-04 9.99999856e-01 0.00000000e+00 -4.30735805e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00224552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.655336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:25.80, Y:-0.43, Z:-0.07 [[ 9.99999939e-01 3.50161309e-04 0.00000000e+00 2.58009009e+01] [-3.50161309e-04 9.99999939e-01 0.00000000e+00 -4.32686612e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.69261112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.685336195 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:25.83, Y:-0.44, Z:-0.07 [[ 9.99990067e-01 4.45719379e-03 0.00000000e+00 2.58306058e+01] [-4.45719379e-03 9.99990067e-01 0.00000000e+00 -4.38114170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.20018310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.715336195 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:25.86, Y:-0.44, Z:-0.07 [[ 9.99990265e-01 4.41250032e-03 0.00000000e+00 2.58598969e+01] [-4.41250032e-03 9.99990265e-01 0.00000000e+00 -4.38469276e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.20018310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.745336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.89, Y:-0.44, Z:-0.07 [[ 9.99974488e-01 7.14303791e-03 0.00000000e+00 2.58883261e+01] [-7.14303791e-03 9.99974488e-01 0.00000000e+00 -4.42030241e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.27466912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.775336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:25.92, Y:-0.45, Z:-0.07 [[ 9.99900458e-01 1.41093717e-02 0.00000000e+00 2.59169433e+01] [-1.41093717e-02 9.99900458e-01 0.00000000e+00 -4.45984300e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.47922929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.805336195000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:25.95, Y:-0.45, Z:-0.08 [[ 9.99837114e-01 1.80484215e-02 0.00000000e+00 2.59450165e+01] [-1.80484215e-02 9.99837114e-01 0.00000000e+00 -4.45165967e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.70970138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.835336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:25.97, Y:-0.44, Z:-0.07 [[ 9.99719742e-01 2.36735619e-02 0.00000000e+00 2.59726077e+01] [-2.36735619e-02 9.99719742e-01 0.00000000e+00 -4.38531724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.26357653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.865336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.00, Y:-0.43, Z:-0.07 [[ 9.99667753e-01 2.57756273e-02 0.00000000e+00 2.60018114e+01] [-2.57756273e-02 9.99667753e-01 0.00000000e+00 -4.31781515e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.69314059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.895336195000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:26.03, Y:-0.43, Z:-0.07 [[ 0.9996535 0.02632255 0. 26.03081354] [-0.02632255 0.9996535 0. -0.43038837] [ 0. 0. 1. -0.07004999] [ 0. 0. 0. 1. ]] SLAMing on 25.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.06, Y:-0.43, Z:-0.08 [[ 0.99964723 0.02655958 0. 26.05816614] [-0.02655958 0.99964723 0. -0.43104039] [ 0. 0. 1. -0.07595868] [ 0. 0. 0. 1. ]] SLAMing on 25.955336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.09, Y:-0.43, Z:-0.08 [[ 0.99964463 0.02665715 0. 26.08729314] [-0.02665715 0.99964463 0. -0.43420833] [ 0. 0. 1. -0.07773115] [ 0. 0. 0. 1. ]] SLAMing on 25.985336195000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:26.12, Y:-0.43, Z:-0.08 [[ 0.99964806 0.02652854 0. 26.11633613] [-0.02652854 0.99964806 0. -0.43341749] [ 0. 0. 1. -0.07807159] [ 0. 0. 0. 1. ]] SLAMing on 26.015336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:26.15, Y:-0.42, Z:-0.07 [[ 9.99667784e-01 2.57744452e-02 0.00000000e+00 2.61457265e+01] [-2.57744452e-02 9.99667784e-01 0.00000000e+00 -4.22522724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07581515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.045336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.17, Y:-0.42, Z:-0.07 [[ 9.99670963e-01 2.56508561e-02 0.00000000e+00 2.61734352e+01] [-2.56508561e-02 9.99670963e-01 0.00000000e+00 -4.16325750e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.74564048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.075336195000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:26.20, Y:-0.41, Z:-0.07 [[ 9.99697200e-01 2.46070820e-02 0.00000000e+00 2.62007294e+01] [-2.46070820e-02 9.99697200e-01 0.00000000e+00 -4.13407213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.77342007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.105336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:26.23, Y:-0.42, Z:-0.07 [[ 9.99740622e-01 2.27747564e-02 0.00000000e+00 2.62273605e+01] [-2.27747564e-02 9.99740622e-01 0.00000000e+00 -4.15052134e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.20016439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.135336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:26.26, Y:-0.41, Z:-0.07 [[ 9.99872983e-01 1.59379507e-02 0.00000000e+00 2.62567879e+01] [-1.59379507e-02 9.99872983e-01 0.00000000e+00 -4.11127742e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.13925663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.165336195000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.28, Y:-0.41, Z:-0.07 [[ 9.99930650e-01 1.17769148e-02 0.00000000e+00 2.62848455e+01] [-1.17769148e-02 9.99930650e-01 0.00000000e+00 -4.06342275e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14863812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.195336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.31, Y:-0.40, Z:-0.07 [[ 9.99990565e-01 4.34393284e-03 0.00000000e+00 2.63138553e+01] [-4.34393284e-03 9.99990565e-01 0.00000000e+00 -4.01831152e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25413670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.225336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:26.34, Y:-0.41, Z:-0.07 [[ 9.99997464e-01 -2.25201316e-03 0.00000000e+00 2.63433360e+01] [ 2.25201316e-03 9.99997464e-01 0.00000000e+00 -4.08884238e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.17931226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.38, Y:-0.41, Z:-0.07 [[ 9.99989503e-01 -4.58191278e-03 0.00000000e+00 2.63750641e+01] [ 4.58191278e-03 9.99989503e-01 0.00000000e+00 -4.11904446e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01000972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.285336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:26.41, Y:-0.41, Z:-0.07 [[ 9.99970177e-01 -7.72307976e-03 0.00000000e+00 2.64085931e+01] [ 7.72307976e-03 9.99970177e-01 0.00000000e+00 -4.10522216e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62207838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.315336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:26.44, Y:-0.41, Z:-0.07 [[ 9.99961778e-01 -8.74311159e-03 0.00000000e+00 2.64404205e+01] [ 8.74311159e-03 9.99961778e-01 0.00000000e+00 -4.08577190e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.59231533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.345336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:26.47, Y:-0.41, Z:-0.07 [[ 9.99958566e-01 -9.10311673e-03 0.00000000e+00 2.64723288e+01] [ 9.10311673e-03 9.99958566e-01 0.00000000e+00 -4.09446286e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.67647947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.375336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:26.50, Y:-0.41, Z:-0.07 [[ 9.99959866e-01 -8.95915715e-03 0.00000000e+00 2.65032952e+01] [ 8.95915715e-03 9.99959866e-01 0.00000000e+00 -4.13903076e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.96755159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.405336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.54, Y:-0.42, Z:-0.06 [[ 9.99954862e-01 -9.50130256e-03 0.00000000e+00 2.65354715e+01] [ 9.50130256e-03 9.99954862e-01 0.00000000e+00 -4.20580190e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37489670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.435336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:26.57, Y:-0.42, Z:-0.06 [[ 9.99953283e-01 -9.66603628e-03 0.00000000e+00 2.65662635e+01] [ 9.66603628e-03 9.99953283e-01 0.00000000e+00 -4.20403106e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.14574664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.465336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.60, Y:-0.42, Z:-0.06 [[ 9.99966376e-01 -8.20045188e-03 0.00000000e+00 2.65986057e+01] [ 8.20045188e-03 9.99966376e-01 0.00000000e+00 -4.19049547e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.18621879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.495336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:26.63, Y:-0.42, Z:-0.06 [[ 9.99988806e-01 -4.73162141e-03 0.00000000e+00 2.66311908e+01] [ 4.73162141e-03 9.99988806e-01 0.00000000e+00 -4.23376853e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.31844834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.525336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:26.66, Y:-0.43, Z:-0.06 [[ 9.99996829e-01 -2.51825756e-03 0.00000000e+00 2.66635722e+01] [ 2.51825756e-03 9.99996829e-01 0.00000000e+00 -4.27846921e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.42434928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.555336195000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.69, Y:-0.44, Z:-0.07 [[ 9.99998670e-01 1.63114603e-03 0.00000000e+00 2.66939267e+01] [-1.63114603e-03 9.99998670e-01 0.00000000e+00 -4.35010769e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.93729595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.585336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:26.72, Y:-0.44, Z:-0.07 [[ 9.99992732e-01 3.81248183e-03 0.00000000e+00 2.67239028e+01] [-3.81248183e-03 9.99992732e-01 0.00000000e+00 -4.36709073e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99089501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.615336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:26.75, Y:-0.43, Z:-0.07 [[ 9.99962554e-01 8.65388391e-03 0.00000000e+00 2.67521489e+01] [-8.65388391e-03 9.99962554e-01 0.00000000e+00 -4.34316081e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.83224067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.645336195000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:26.78, Y:-0.43, Z:-0.06 [[ 9.99940183e-01 1.09376041e-02 0.00000000e+00 2.67810048e+01] [-1.09376041e-02 9.99940183e-01 0.00000000e+00 -4.33321044e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29863208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.675336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:26.81, Y:-0.44, Z:-0.06 [[ 9.99881372e-01 1.54026892e-02 0.00000000e+00 2.68104068e+01] [-1.54026892e-02 9.99881372e-01 0.00000000e+00 -4.38441346e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.86568660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.84, Y:-0.45, Z:-0.06 [[ 9.99784468e-01 2.07609432e-02 0.00000000e+00 2.68378170e+01] [-2.07609432e-02 9.99784468e-01 0.00000000e+00 -4.47381604e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.31014228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.735336195000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:26.87, Y:-0.45, Z:-0.06 [[ 9.99731097e-01 2.31890762e-02 0.00000000e+00 2.68657156e+01] [-2.31890762e-02 9.99731097e-01 0.00000000e+00 -4.47762636e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10866169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.765336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.90, Y:-0.44, Z:-0.06 [[ 9.99682366e-01 2.52025161e-02 0.00000000e+00 2.68951018e+01] [-2.52025161e-02 9.99682366e-01 0.00000000e+00 -4.42198400e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.80176286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.795336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:26.92, Y:-0.44, Z:-0.06 [[ 9.99696740e-01 2.46257657e-02 0.00000000e+00 2.69239203e+01] [-2.46257657e-02 9.99696740e-01 0.00000000e+00 -4.39462756e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.75079695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.825336195000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.95, Y:-0.44, Z:-0.06 [[ 9.99783772e-01 2.07944438e-02 0.00000000e+00 2.69519765e+01] [-2.07944438e-02 9.99783772e-01 0.00000000e+00 -4.41136930e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81789118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.855336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:26.98, Y:-0.45, Z:-0.06 [[ 9.99834078e-01 1.82158219e-02 0.00000000e+00 2.69808612e+01] [-1.82158219e-02 9.99834078e-01 0.00000000e+00 -4.45849368e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.85306322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.01, Y:-0.46, Z:-0.06 [[ 9.99912828e-01 1.32036243e-02 0.00000000e+00 2.70084033e+01] [-1.32036243e-02 9.99912828e-01 0.00000000e+00 -4.55267450e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.22952911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.915336195000002 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:27.04, Y:-0.46, Z:-0.06 [[ 9.99946459e-01 1.03478633e-02 0.00000000e+00 2.70362363e+01] [-1.03478633e-02 9.99946459e-01 0.00000000e+00 -4.58815520e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.45222578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.06, Y:-0.46, Z:-0.06 [[ 9.99977974e-01 6.63712910e-03 0.00000000e+00 2.70639746e+01] [-6.63712910e-03 9.99977974e-01 0.00000000e+00 -4.57708831e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79916183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.975336195 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:27.09, Y:-0.45, Z:-0.05 [[ 9.99985684e-01 5.35085542e-03 0.00000000e+00 2.70929064e+01] [-5.35085542e-03 9.99985684e-01 0.00000000e+00 -4.52466742e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97446177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.005336195 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:27.12, Y:-0.45, Z:-0.05 [[ 9.99989156e-01 4.65711661e-03 0.00000000e+00 2.71219808e+01] [-4.65711661e-03 9.99989156e-01 0.00000000e+00 -4.52471655e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88246580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.035336195 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:27.15, Y:-0.46, Z:-0.05 [[ 9.99988632e-01 4.76813016e-03 0.00000000e+00 2.71508163e+01] [-4.76813016e-03 9.99988632e-01 0.00000000e+00 -4.58547615e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33284477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.065336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:27.18, Y:-0.46, Z:-0.06 [[ 9.99985914e-01 5.30772347e-03 0.00000000e+00 2.71783892e+01] [-5.30772347e-03 9.99985914e-01 0.00000000e+00 -4.62696134e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.64566511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.095336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.21, Y:-0.47, Z:-0.06 [[ 9.99983929e-01 5.66933767e-03 0.00000000e+00 2.72056386e+01] [-5.66933767e-03 9.99983929e-01 0.00000000e+00 -4.66670204e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68917411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.125336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:27.23, Y:-0.46, Z:-0.05 [[ 9.99985585e-01 5.36940829e-03 0.00000000e+00 2.72342065e+01] [-5.36940829e-03 9.99985585e-01 0.00000000e+00 -4.63908635e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.44184040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.155336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.26, Y:-0.46, Z:-0.05 [[ 9.99986973e-01 5.10438620e-03 0.00000000e+00 2.72632258e+01] [-5.10438620e-03 9.99986973e-01 0.00000000e+00 -4.56068860e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29085737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.185336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:27.29, Y:-0.46, Z:-0.06 [[ 9.99986336e-01 5.22750851e-03 0.00000000e+00 2.72920794e+01] [-5.22750851e-03 9.99986336e-01 0.00000000e+00 -4.57570217e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61196975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.215336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:27.32, Y:-0.46, Z:-0.06 [[ 9.99986299e-01 5.23476593e-03 0.00000000e+00 2.73198196e+01] [-5.23476593e-03 9.99986299e-01 0.00000000e+00 -4.61663874e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.21105891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.245336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:27.35, Y:-0.46, Z:-0.06 [[ 9.99986854e-01 5.12758654e-03 0.00000000e+00 2.73490885e+01] [-5.12758654e-03 9.99986854e-01 0.00000000e+00 -4.62943125e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.18727782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.38, Y:-0.46, Z:-0.06 [[ 9.99986514e-01 5.19353522e-03 0.00000000e+00 2.73764883e+01] [-5.19353522e-03 9.99986514e-01 0.00000000e+00 -4.61315213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.36425662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.305336195000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:27.40, Y:-0.46, Z:-0.06 [[ 9.99987973e-01 4.90448983e-03 0.00000000e+00 2.74048780e+01] [-4.90448983e-03 9.99987973e-01 0.00000000e+00 -4.59497719e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.27528494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.43, Y:-0.46, Z:-0.06 [[ 9.99993433e-01 3.62406841e-03 0.00000000e+00 2.74327444e+01] [-3.62406841e-03 9.99993433e-01 0.00000000e+00 -4.57917669e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.19500432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.46, Y:-0.46, Z:-0.06 [[ 9.99997275e-01 2.33440841e-03 0.00000000e+00 2.74614728e+01] [-2.33440841e-03 9.99997275e-01 0.00000000e+00 -4.57361261e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.96078396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.395336195000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:27.49, Y:-0.46, Z:-0.06 [[ 9.99999443e-01 -1.05539088e-03 0.00000000e+00 2.74909240e+01] [ 1.05539088e-03 9.99999443e-01 0.00000000e+00 -4.57000732e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56534231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.425336195 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:27.52, Y:-0.46, Z:-0.05 [[ 9.99991104e-01 -4.21800690e-03 0.00000000e+00 2.75211004e+01] [ 4.21800690e-03 9.99991104e-01 0.00000000e+00 -4.56027297e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12941526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.455336195 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:27.55, Y:-0.45, Z:-0.05 [[ 9.99989245e-01 -4.63795876e-03 0.00000000e+00 2.75532628e+01] [ 4.63795876e-03 9.99989245e-01 0.00000000e+00 -4.50349393e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.95808968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.485336195000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:27.58, Y:-0.45, Z:-0.05 [[ 9.99992203e-01 -3.94893622e-03 0.00000000e+00 2.75849520e+01] [ 3.94893622e-03 9.99992203e-01 0.00000000e+00 -4.51110207e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40399830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.62, Y:-0.45, Z:-0.06 [[ 9.99992022e-01 -3.99455410e-03 0.00000000e+00 2.76161584e+01] [ 3.99455410e-03 9.99992022e-01 0.00000000e+00 -4.54159029e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.03563084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.545336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:27.65, Y:-0.45, Z:-0.06 [[ 9.99984770e-01 -5.51894957e-03 0.00000000e+00 2.76479245e+01] [ 5.51894957e-03 9.99984770e-01 0.00000000e+00 -4.54393996e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68945659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.575336195000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.68, Y:-0.45, Z:-0.05 [[ 9.99980186e-01 -6.29508991e-03 0.00000000e+00 2.76806810e+01] [ 6.29508991e-03 9.99980186e-01 0.00000000e+00 -4.49737019e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09558565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.71, Y:-0.45, Z:-0.05 [[ 9.99980494e-01 -6.24600295e-03 0.00000000e+00 2.77133711e+01] [ 6.24600295e-03 9.99980494e-01 0.00000000e+00 -4.50230868e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09558565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.635336195 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:27.74, Y:-0.45, Z:-0.06 [[ 9.99981121e-01 -6.14470508e-03 0.00000000e+00 2.77446824e+01] [ 6.14470508e-03 9.99981121e-01 0.00000000e+00 -4.51395254e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.59637389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.665336195000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:27.78, Y:-0.45, Z:-0.06 [[ 9.99980201e-01 -6.29270549e-03 0.00000000e+00 2.77768908e+01] [ 6.29270549e-03 9.99980201e-01 0.00000000e+00 -4.54100779e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81710380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.695336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:27.81, Y:-0.45, Z:-0.06 [[ 9.99986448e-01 -5.20618301e-03 0.00000000e+00 2.78080762e+01] [ 5.20618301e-03 9.99986448e-01 0.00000000e+00 -4.53866492e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70079754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.725336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:27.84, Y:-0.45, Z:-0.05 [[ 9.99990597e-01 -4.33664035e-03 0.00000000e+00 2.78404758e+01] [ 4.33664035e-03 9.99990597e-01 0.00000000e+00 -4.53915118e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43180978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.755336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:27.87, Y:-0.45, Z:-0.06 [[ 9.99995784e-01 -2.90367967e-03 0.00000000e+00 2.78721017e+01] [ 2.90367967e-03 9.99995784e-01 0.00000000e+00 -4.54649564e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70709808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.785336195 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:27.90, Y:-0.46, Z:-0.06 [[ 9.99998266e-01 1.86218195e-03 0.00000000e+00 2.79027114e+01] [-1.86218195e-03 9.99998266e-01 0.00000000e+00 -4.58431452e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73962887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.93, Y:-0.46, Z:-0.06 [[ 9.99973915e-01 7.22283005e-03 0.00000000e+00 2.79318372e+01] [-7.22283005e-03 9.99973915e-01 0.00000000e+00 -4.63034201e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54539325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.845336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:27.96, Y:-0.46, Z:-0.05 [[ 9.99949907e-01 1.00091602e-02 0.00000000e+00 2.79611350e+01] [-1.00091602e-02 9.99949907e-01 0.00000000e+00 -4.62602880e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.21336939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.875336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:27.99, Y:-0.46, Z:-0.05 [[ 9.99885161e-01 1.51546948e-02 0.00000000e+00 2.79894162e+01] [-1.51546948e-02 9.99885161e-01 0.00000000e+00 -4.56236640e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.92981345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.905336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:28.02, Y:-0.45, Z:-0.05 [[ 9.99855586e-01 1.69943035e-02 0.00000000e+00 2.80163203e+01] [-1.69943035e-02 9.99855586e-01 0.00000000e+00 -4.53862264e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15660440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.935336195 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:28.05, Y:-0.45, Z:-0.05 [[ 9.99780692e-01 2.09420047e-02 0.00000000e+00 2.80452034e+01] [-2.09420047e-02 9.99780692e-01 0.00000000e+00 -4.50245070e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33950484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.965336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.07, Y:-0.45, Z:-0.06 [[ 9.99689836e-01 2.49044356e-02 0.00000000e+00 2.80748925e+01] [-2.49044356e-02 9.99689836e-01 0.00000000e+00 -4.52856967e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35265562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.995336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:28.10, Y:-0.45, Z:-0.07 [[ 9.99671258e-01 2.56393413e-02 0.00000000e+00 2.81029595e+01] [-2.56393413e-02 9.99671258e-01 0.00000000e+00 -4.53355798e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88191683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.025336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:28.13, Y:-0.45, Z:-0.06 [[ 9.99674395e-01 2.55167199e-02 0.00000000e+00 2.81314418e+01] [-2.55167199e-02 9.99674395e-01 0.00000000e+00 -4.46753484e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.11501044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.055336195000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:28.16, Y:-0.44, Z:-0.06 [[ 9.99693516e-01 2.47562926e-02 0.00000000e+00 2.81601420e+01] [-2.47562926e-02 9.99693516e-01 0.00000000e+00 -4.44249134e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.92159829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.085336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.19, Y:-0.44, Z:-0.05 [[ 9.99754642e-01 2.21507510e-02 0.00000000e+00 2.81894317e+01] [-2.21507510e-02 9.99754642e-01 0.00000000e+00 -4.37240028e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.45940270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.115336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:28.22, Y:-0.43, Z:-0.05 [[ 9.99798100e-01 2.00937845e-02 0.00000000e+00 2.82162256e+01] [-2.00937845e-02 9.99798100e-01 0.00000000e+00 -4.30611025e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30509520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.145336195000002 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:28.24, Y:-0.43, Z:-0.05 [[ 9.99890896e-01 1.47714490e-02 0.00000000e+00 2.82444051e+01] [-1.47714490e-02 9.99890896e-01 0.00000000e+00 -4.26737444e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46580927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.175336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:28.27, Y:-0.43, Z:-0.05 [[ 9.99952916e-01 9.70392665e-03 0.00000000e+00 2.82727591e+01] [-9.70392665e-03 9.99952916e-01 0.00000000e+00 -4.29381474e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.37202218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.30, Y:-0.43, Z:-0.05 [[ 9.99972954e-01 7.35462368e-03 0.00000000e+00 2.83001029e+01] [-7.35462368e-03 9.99972954e-01 0.00000000e+00 -4.27852615e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.48406915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.235336195000002 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:28.33, Y:-0.43, Z:-0.06 [[ 9.99999846e-01 5.55406755e-04 0.00000000e+00 2.83287758e+01] [-5.55406755e-04 9.99999846e-01 0.00000000e+00 -4.25938994e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.63142584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.265336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:28.36, Y:-0.43, Z:-0.06 [[ 9.99997109e-01 -2.40470925e-03 0.00000000e+00 2.83582986e+01] [ 2.40470925e-03 9.99997109e-01 0.00000000e+00 -4.26674384e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97752163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.295336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:28.39, Y:-0.43, Z:-0.06 [[ 9.99967763e-01 -8.02952224e-03 0.00000000e+00 2.83905555e+01] [ 8.02952224e-03 9.99967763e-01 0.00000000e+00 -4.27081543e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56218309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.325336195000002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:28.42, Y:-0.43, Z:-0.05 [[ 9.99906419e-01 -1.36803651e-02 0.00000000e+00 2.84213263e+01] [ 1.36803651e-02 9.99906419e-01 0.00000000e+00 -4.27610946e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41876311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.45, Y:-0.43, Z:-0.05 [[ 9.99870949e-01 -1.60650039e-02 0.00000000e+00 2.84535318e+01] [ 1.60650039e-02 9.99870949e-01 0.00000000e+00 -4.29506584e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.21627142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.385336195 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:28.49, Y:-0.43, Z:-0.05 [[ 9.99807384e-01 -1.96263974e-02 0.00000000e+00 2.84859599e+01] [ 1.96263974e-02 9.99807384e-01 0.00000000e+00 -4.34247154e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80572810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.415336195000002 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:28.52, Y:-0.44, Z:-0.05 [[ 9.99793328e-01 -2.03298178e-02 0.00000000e+00 2.85179487e+01] [ 2.03298178e-02 9.99793328e-01 0.00000000e+00 -4.36300697e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82834284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.445336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:28.55, Y:-0.44, Z:-0.06 [[ 9.99805581e-01 -1.97180006e-02 0.00000000e+00 2.85494622e+01] [ 1.97180006e-02 9.99805581e-01 0.00000000e+00 -4.42920641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.51226559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.475336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:28.58, Y:-0.45, Z:-0.06 [[ 9.99822815e-01 -1.88238699e-02 0.00000000e+00 2.85803540e+01] [ 1.88238699e-02 9.99822815e-01 0.00000000e+00 -4.47413708e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.16799261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.505336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:28.61, Y:-0.45, Z:-0.06 [[ 9.99873292e-01 -1.59185326e-02 0.00000000e+00 2.86126927e+01] [ 1.59185326e-02 9.99873292e-01 0.00000000e+00 -4.47650770e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61408826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.535336195 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:28.64, Y:-0.44, Z:-0.05 [[ 9.99900489e-01 -1.41071836e-02 0.00000000e+00 2.86435225e+01] [ 1.41071836e-02 9.99900489e-01 0.00000000e+00 -4.44477340e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03378806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.565336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:28.68, Y:-0.44, Z:-0.04 [[ 9.99938050e-01 -1.11308359e-02 0.00000000e+00 2.86761271e+01] [ 1.11308359e-02 9.99938050e-01 0.00000000e+00 -4.43228563e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.43545484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.595336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:28.71, Y:-0.45, Z:-0.05 [[ 9.99970497e-01 -7.68150043e-03 0.00000000e+00 2.87077740e+01] [ 7.68150043e-03 9.99970497e-01 0.00000000e+00 -4.54988756e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85108410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.625336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:28.74, Y:-0.46, Z:-0.05 [[ 9.99982776e-01 -5.86913471e-03 0.00000000e+00 2.87388606e+01] [ 5.86913471e-03 9.99982776e-01 0.00000000e+00 -4.61103646e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.28597800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.655336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:28.77, Y:-0.46, Z:-0.05 [[ 9.99998388e-01 -1.79534119e-03 0.00000000e+00 2.87706243e+01] [ 1.79534119e-03 9.99998388e-01 0.00000000e+00 -4.62039051e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12194758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.685336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:28.80, Y:-0.46, Z:-0.05 [[ 9.99999940e-01 3.45431177e-04 0.00000000e+00 2.88013916e+01] [-3.45431177e-04 9.99999940e-01 0.00000000e+00 -4.56463847e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12080301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.715336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.83, Y:-0.45, Z:-0.05 [[ 9.99998937e-01 1.45832071e-03 0.00000000e+00 2.88318649e+01] [-1.45832071e-03 9.99998937e-01 0.00000000e+00 -4.48962850e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84960024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.745336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:28.86, Y:-0.45, Z:-0.06 [[ 9.99999516e-01 9.83395901e-04 0.00000000e+00 2.88614458e+01] [-9.83395901e-04 9.99999516e-01 0.00000000e+00 -4.52792679e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.63859013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.775336195 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:28.89, Y:-0.46, Z:-0.06 [[ 9.99999848e-01 5.50822731e-04 0.00000000e+00 2.88905551e+01] [-5.50822731e-04 9.99999848e-01 0.00000000e+00 -4.64239666e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76491273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.805336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:28.92, Y:-0.47, Z:-0.06 [[ 9.99999998e-01 5.50010408e-05 0.00000000e+00 2.89203033e+01] [-5.50010408e-05 9.99999998e-01 0.00000000e+00 -4.68612211e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10481653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.835336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:28.95, Y:-0.47, Z:-0.05 [[ 9.99998509e-01 -1.72694734e-03 0.00000000e+00 2.89510345e+01] [ 1.72694734e-03 9.99998509e-01 0.00000000e+00 -4.68202960e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83326521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.865336195 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:28.98, Y:-0.47, Z:-0.04 [[ 9.99997385e-01 -2.28691105e-03 0.00000000e+00 2.89827633e+01] [ 2.28691105e-03 9.99997385e-01 0.00000000e+00 -4.66489057e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37491746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.895336195000002 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:29.01, Y:-0.47, Z:-0.04 [[ 9.99999331e-01 -1.15662127e-03 0.00000000e+00 2.90142909e+01] [ 1.15662127e-03 9.99999331e-01 0.00000000e+00 -4.69001422e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94604953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.925336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.05, Y:-0.48, Z:-0.04 [[ 9.99999740e-01 7.21247612e-04 0.00000000e+00 2.90457023e+01] [-7.21247612e-04 9.99999740e-01 0.00000000e+00 -4.79346482e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30049667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.955336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:29.08, Y:-0.48, Z:-0.05 [[ 9.99999539e-01 9.60319521e-04 0.00000000e+00 2.90750307e+01] [-9.60319521e-04 9.99999539e-01 0.00000000e+00 -4.81888342e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59892911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.985336195000002 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:29.10, Y:-0.48, Z:-0.05 [[ 9.99998712e-01 1.60477735e-03 0.00000000e+00 2.91045948e+01] [-1.60477735e-03 9.99998712e-01 0.00000000e+00 -4.79346874e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58285024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.015336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:29.13, Y:-0.48, Z:-0.05 [[ 9.99998214e-01 1.89002972e-03 0.00000000e+00 2.91329849e+01] [-1.89002972e-03 9.99998214e-01 0.00000000e+00 -4.79142220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.71261828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.045336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:29.16, Y:-0.48, Z:-0.05 [[ 9.99999107e-01 1.33647938e-03 0.00000000e+00 2.91621468e+01] [-1.33647938e-03 9.99999107e-01 0.00000000e+00 -4.84595741e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76710368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.075336195000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.19, Y:-0.49, Z:-0.05 [[ 9.99998635e-01 1.65255539e-03 0.00000000e+00 2.91916554e+01] [-1.65255539e-03 9.99998635e-01 0.00000000e+00 -4.89527032e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88938580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.105336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.22, Y:-0.49, Z:-0.05 [[ 9.99999985e-01 1.72601192e-04 0.00000000e+00 2.92212379e+01] [-1.72601192e-04 9.99999985e-01 0.00000000e+00 -4.93184856e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85215035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.135336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:29.25, Y:-0.50, Z:-0.05 [[ 9.99999290e-01 -1.19133349e-03 0.00000000e+00 2.92506753e+01] [ 1.19133349e-03 9.99999290e-01 0.00000000e+00 -4.95021418e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68950423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.165336195000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.28, Y:-0.49, Z:-0.05 [[ 9.99998920e-01 -1.46952411e-03 0.00000000e+00 2.92816268e+01] [ 1.46952411e-03 9.99998920e-01 0.00000000e+00 -4.92643223e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51249161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.195336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:29.31, Y:-0.50, Z:-0.04 [[ 9.99998535e-01 -1.71188273e-03 0.00000000e+00 2.93127215e+01] [ 1.71188273e-03 9.99998535e-01 0.00000000e+00 -4.95150059e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35649237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.225336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:29.34, Y:-0.50, Z:-0.05 [[ 9.99997587e-01 -2.19661232e-03 0.00000000e+00 2.93435459e+01] [ 2.19661232e-03 9.99997587e-01 0.00000000e+00 -5.04287931e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81601590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.255336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:29.37, Y:-0.51, Z:-0.05 [[ 9.99995632e-01 -2.95550139e-03 0.00000000e+00 2.93747862e+01] [ 2.95550139e-03 9.99995632e-01 0.00000000e+00 -5.10130091e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.00910536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.285336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.41, Y:-0.51, Z:-0.05 [[ 9.99981560e-01 -6.07294420e-03 0.00000000e+00 2.94065815e+01] [ 6.07294420e-03 9.99981560e-01 0.00000000e+00 -5.14273771e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.37885352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.315336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:29.44, Y:-0.51, Z:-0.05 [[ 9.99965093e-01 -8.35541773e-03 0.00000000e+00 2.94389481e+01] [ 8.35541773e-03 9.99965093e-01 0.00000000e+00 -5.14251669e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17717938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.345336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:29.47, Y:-0.52, Z:-0.05 [[ 9.99921788e-01 -1.25066989e-02 0.00000000e+00 2.94696596e+01] [ 1.25066989e-02 9.99921788e-01 0.00000000e+00 -5.22338040e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.37728961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.375336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.50, Y:-0.53, Z:-0.05 [[ 9.99903677e-01 -1.38793927e-02 0.00000000e+00 2.95015086e+01] [ 1.38793927e-02 9.99903677e-01 0.00000000e+00 -5.27912345e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13237038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.405336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.53, Y:-0.53, Z:-0.04 [[ 9.99913281e-01 -1.31693101e-02 0.00000000e+00 2.95335735e+01] [ 1.31693101e-02 9.99913281e-01 0.00000000e+00 -5.32449646e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44580629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.435336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:29.56, Y:-0.53, Z:-0.05 [[ 9.99935768e-01 -1.13340507e-02 0.00000000e+00 2.95646154e+01] [ 1.13340507e-02 9.99935768e-01 0.00000000e+00 -5.34397117e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64215438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.465336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.60, Y:-0.54, Z:-0.05 [[ 9.99988827e-01 -4.72709892e-03 0.00000000e+00 2.95968304e+01] [ 4.72709892e-03 9.99988827e-01 0.00000000e+00 -5.37798147e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52593707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.495336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.63, Y:-0.54, Z:-0.05 [[ 9.99989045e-01 -4.68084693e-03 0.00000000e+00 2.96295194e+01] [ 4.68084693e-03 9.99989045e-01 0.00000000e+00 -5.38319912e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52593707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.525336195 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:29.66, Y:-0.54, Z:-0.04 [[ 9.99999593e-01 -9.02075915e-04 0.00000000e+00 2.96615432e+01] [ 9.02075915e-04 9.99999593e-01 0.00000000e+00 -5.37482383e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27787823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.555336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:29.69, Y:-0.54, Z:-0.05 [[ 9.99977320e-01 6.73491406e-03 0.00000000e+00 2.96918372e+01] [-6.73491406e-03 9.99977320e-01 0.00000000e+00 -5.37392448e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64984115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.72, Y:-0.54, Z:-0.05 [[ 9.99943640e-01 1.06167843e-02 0.00000000e+00 2.97196082e+01] [-1.06167843e-02 9.99943640e-01 0.00000000e+00 -5.44824688e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.35504169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.615336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:29.75, Y:-0.54, Z:-0.05 [[ 9.99931957e-01 1.16653788e-02 0.00000000e+00 2.97482117e+01] [-1.16653788e-02 9.99931957e-01 0.00000000e+00 -5.44884884e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04644422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.645336195000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.78, Y:-0.55, Z:-0.05 [[ 9.99930303e-01 1.18062857e-02 0.00000000e+00 2.97759390e+01] [-1.18062857e-02 9.99930303e-01 0.00000000e+00 -5.46096538e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03181371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.675336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:29.80, Y:-0.55, Z:-0.05 [[ 9.99937115e-01 1.12145335e-02 0.00000000e+00 2.98032730e+01] [-1.12145335e-02 9.99937115e-01 0.00000000e+00 -5.47697261e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17065250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.83, Y:-0.55, Z:-0.04 [[ 9.99948161e-01 1.01821167e-02 0.00000000e+00 2.98330640e+01] [-1.01821167e-02 9.99948161e-01 0.00000000e+00 -5.48226123e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37120646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.735336195000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.86, Y:-0.55, Z:-0.04 [[ 9.99953356e-01 9.65846401e-03 0.00000000e+00 2.98614023e+01] [-9.65846401e-03 9.99953356e-01 0.00000000e+00 -5.49895866e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.13765447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.89, Y:-0.56, Z:-0.04 [[ 9.99951804e-01 9.81779143e-03 0.00000000e+00 2.98894272e+01] [-9.81779143e-03 9.99951804e-01 0.00000000e+00 -5.56339975e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90974650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.795336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:29.92, Y:-0.55, Z:-0.03 [[ 9.99930358e-01 1.18016794e-02 0.00000000e+00 2.99178309e+01] [-1.18016794e-02 9.99930358e-01 0.00000000e+00 -5.54818591e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47151747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.825336195000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.95, Y:-0.55, Z:-0.04 [[ 9.99921997e-01 1.24900222e-02 0.00000000e+00 2.99461653e+01] [-1.24900222e-02 9.99921997e-01 0.00000000e+00 -5.53206378e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.75183161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.855336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:29.98, Y:-0.56, Z:-0.05 [[ 9.99881716e-01 1.53803009e-02 0.00000000e+00 2.99755256e+01] [-1.53803009e-02 9.99881716e-01 0.00000000e+00 -5.56816031e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84689775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.00, Y:-0.56, Z:-0.05 [[ 9.99861681e-01 1.66318824e-02 0.00000000e+00 3.00045131e+01] [-1.66318824e-02 9.99861681e-01 0.00000000e+00 -5.60509430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25650439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.915336195000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:30.03, Y:-0.56, Z:-0.05 [[ 9.99846729e-01 1.75076688e-02 0.00000000e+00 3.00331099e+01] [-1.75076688e-02 9.99846729e-01 0.00000000e+00 -5.61484600e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.28273189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.945336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:30.06, Y:-0.56, Z:-0.05 [[ 9.99847605e-01 1.74575780e-02 0.00000000e+00 3.00622983e+01] [-1.74575780e-02 9.99847605e-01 0.00000000e+00 -5.58174506e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.14472895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.975336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:30.09, Y:-0.55, Z:-0.05 [[ 9.99863260e-01 1.65366762e-02 0.00000000e+00 3.00917586e+01] [-1.65366762e-02 9.99863260e-01 0.00000000e+00 -5.49566519e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60951507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.005336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.12, Y:-0.55, Z:-0.05 [[ 9.99884333e-01 1.52092161e-02 0.00000000e+00 3.01187112e+01] [-1.52092161e-02 9.99884333e-01 0.00000000e+00 -5.45586773e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50800819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.035336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:30.15, Y:-0.54, Z:-0.04 [[ 9.99913145e-01 1.31796138e-02 0.00000000e+00 3.01460145e+01] [-1.31796138e-02 9.99913145e-01 0.00000000e+00 -5.42547013e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.45162210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.065336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:30.17, Y:-0.55, Z:-0.04 [[ 9.99930102e-01 1.18232979e-02 0.00000000e+00 3.01743597e+01] [-1.18232979e-02 9.99930102e-01 0.00000000e+00 -5.47528193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.43987162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.095336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:30.20, Y:-0.55, Z:-0.05 [[ 9.99934171e-01 1.14740111e-02 0.00000000e+00 3.02021484e+01] [-1.14740111e-02 9.99934171e-01 0.00000000e+00 -5.46760948e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69342569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.125336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.23, Y:-0.54, Z:-0.05 [[ 9.99963608e-01 8.53126113e-03 0.00000000e+00 3.02298913e+01] [-8.53126113e-03 9.99963608e-01 0.00000000e+00 -5.38598640e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67819225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.155336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:30.26, Y:-0.53, Z:-0.04 [[ 9.99981978e-01 6.00364736e-03 0.00000000e+00 3.02584739e+01] [-6.00364736e-03 9.99981978e-01 0.00000000e+00 -5.34986466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49915759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.185336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.29, Y:-0.53, Z:-0.04 [[ 9.99999927e-01 3.82118387e-04 0.00000000e+00 3.02869445e+01] [-3.82118387e-04 9.99999927e-01 0.00000000e+00 -5.29121294e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37892338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.215336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:30.32, Y:-0.53, Z:-0.04 [[ 9.99994846e-01 -3.21068461e-03 0.00000000e+00 3.03175902e+01] [ 3.21068461e-03 9.99994846e-01 0.00000000e+00 -5.27416657e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35272028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.245336195 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:30.35, Y:-0.53, Z:-0.05 [[ 9.99954293e-01 -9.56094205e-03 0.00000000e+00 3.03500971e+01] [ 9.56094205e-03 9.99954293e-01 0.00000000e+00 -5.28035891e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70485167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.38, Y:-0.53, Z:-0.05 [[ 9.99882999e-01 -1.52966598e-02 0.00000000e+00 3.03831810e+01] [ 1.52966598e-02 9.99882999e-01 0.00000000e+00 -5.31738898e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.92851845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.305336195 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:30.41, Y:-0.53, Z:-0.05 [[ 9.99835205e-01 -1.81538560e-02 0.00000000e+00 3.04143532e+01] [ 1.81538560e-02 9.99835205e-01 0.00000000e+00 -5.31990021e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98342737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.335336195 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:30.45, Y:-0.53, Z:-0.05 [[ 9.99791603e-01 -2.04144554e-02 0.00000000e+00 3.04456705e+01] [ 2.04144554e-02 9.99791603e-01 0.00000000e+00 -5.31837760e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79085695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.48, Y:-0.53, Z:-0.04 [[ 9.99722441e-01 -2.35592950e-02 0.00000000e+00 3.04784820e+01] [ 2.35592950e-02 9.99722441e-01 0.00000000e+00 -5.28807601e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37326222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.395336195000002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:30.51, Y:-0.53, Z:-0.04 [[ 9.99703777e-01 -2.43384258e-02 0.00000000e+00 3.05105601e+01] [ 2.43384258e-02 9.99703777e-01 0.00000000e+00 -5.28074193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.41898776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.425336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:30.54, Y:-0.53, Z:-0.05 [[ 9.99712832e-01 -2.39636019e-02 0.00000000e+00 3.05428236e+01] [ 2.39636019e-02 9.99712832e-01 0.00000000e+00 -5.33003569e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61916464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.455336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.57, Y:-0.54, Z:-0.05 [[ 9.99742536e-01 -2.26905668e-02 0.00000000e+00 3.05735888e+01] [ 2.26905668e-02 9.99742536e-01 0.00000000e+00 -5.37004442e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99558968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.485336195000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.61, Y:-0.54, Z:-0.05 [[ 9.99848726e-01 -1.73932765e-02 0.00000000e+00 3.06052755e+01] [ 1.73932765e-02 9.99848726e-01 0.00000000e+00 -5.38311056e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58064808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.515336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:30.64, Y:-0.53, Z:-0.04 [[ 9.99941990e-01 -1.07710771e-02 0.00000000e+00 3.06361570e+01] [ 1.07710771e-02 9.99941990e-01 0.00000000e+00 -5.33389792e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46230124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.545336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:30.67, Y:-0.53, Z:-0.04 [[ 9.99973660e-01 -7.25809725e-03 0.00000000e+00 3.06679444e+01] [ 7.25809725e-03 9.99973660e-01 0.00000000e+00 -5.32434435e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33665724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.575336195000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:30.70, Y:-0.54, Z:-0.05 [[ 9.99998333e-01 -1.82581249e-03 0.00000000e+00 3.07000222e+01] [ 1.82581249e-03 9.99998333e-01 0.00000000e+00 -5.35469214e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78570200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.605336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:30.73, Y:-0.54, Z:-0.05 [[ 9.99999960e-01 -2.84316487e-04 0.00000000e+00 3.07312809e+01] [ 2.84316487e-04 9.99999960e-01 0.00000000e+00 -5.38204779e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80960485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.635336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.76, Y:-0.54, Z:-0.05 [[ 9.99999599e-01 8.96019934e-04 0.00000000e+00 3.07620932e+01] [-8.96019934e-04 9.99999599e-01 0.00000000e+00 -5.38612661e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85269067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.665336195000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:30.79, Y:-0.54, Z:-0.05 [[ 9.99999760e-01 6.92298127e-04 0.00000000e+00 3.07913360e+01] [-6.92298127e-04 9.99999760e-01 0.00000000e+00 -5.37455316e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90185685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.695336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:30.82, Y:-0.54, Z:-0.05 [[ 9.99999962e-01 -2.76162913e-04 0.00000000e+00 3.08219595e+01] [ 2.76162913e-04 9.99999962e-01 0.00000000e+00 -5.36364688e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88701933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.85, Y:-0.54, Z:-0.04 [[ 9.99995780e-01 -2.90503477e-03 0.00000000e+00 3.08525360e+01] [ 2.90503477e-03 9.99995780e-01 0.00000000e+00 -5.38116802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37613962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.88, Y:-0.54, Z:-0.04 [[ 9.99994703e-01 -3.25468839e-03 0.00000000e+00 3.08834395e+01] [ 3.25468839e-03 9.99994703e-01 0.00000000e+00 -5.39027388e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19579285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.785336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:30.92, Y:-0.54, Z:-0.04 [[ 9.99995316e-01 -3.06056054e-03 0.00000000e+00 3.09160393e+01] [ 3.06056054e-03 9.99995316e-01 0.00000000e+00 -5.40092148e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.12744247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.815336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:30.95, Y:-0.54, Z:-0.04 [[ 9.99996448e-01 -2.66537376e-03 0.00000000e+00 3.09482600e+01] [ 2.66537376e-03 9.99996448e-01 0.00000000e+00 -5.41078910e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09958799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.845336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.98, Y:-0.54, Z:-0.05 [[ 9.99995240e-01 -3.08536163e-03 0.00000000e+00 3.09790304e+01] [ 3.08536163e-03 9.99995240e-01 0.00000000e+00 -5.42956834e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59553712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.875336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.01, Y:-0.55, Z:-0.05 [[ 9.99983667e-01 -5.71540019e-03 0.00000000e+00 3.10108368e+01] [ 5.71540019e-03 9.99983667e-01 0.00000000e+00 -5.45921540e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08575817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.905336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:31.04, Y:-0.54, Z:-0.06 [[ 9.99945229e-01 -1.04660672e-02 0.00000000e+00 3.10412464e+01] [ 1.04660672e-02 9.99945229e-01 0.00000000e+00 -5.43942470e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73550098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.935336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:31.07, Y:-0.55, Z:-0.05 [[ 9.99920183e-01 -1.26344129e-02 0.00000000e+00 3.10736540e+01] [ 1.26344129e-02 9.99920183e-01 0.00000000e+00 -5.45081442e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09949658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.965336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:31.11, Y:-0.55, Z:-0.05 [[ 9.99899770e-01 -1.41580156e-02 0.00000000e+00 3.11050354e+01] [ 1.41580156e-02 9.99899770e-01 0.00000000e+00 -5.52288876e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15889542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.995336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.14, Y:-0.56, Z:-0.05 [[ 9.99905233e-01 -1.37668003e-02 0.00000000e+00 3.11372442e+01] [ 1.37668003e-02 9.99905233e-01 0.00000000e+00 -5.58191909e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.86184569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.025336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.17, Y:-0.57, Z:-0.05 [[ 9.99950463e-01 -9.95345023e-03 0.00000000e+00 3.11686335e+01] [ 9.95345023e-03 9.99950463e-01 0.00000000e+00 -5.65347051e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75869528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.20, Y:-0.56, Z:-0.04 [[ 9.99975053e-01 -7.06347338e-03 0.00000000e+00 3.12008865e+01] [ 7.06347338e-03 9.99975053e-01 0.00000000e+00 -5.64869294e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27925484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.23, Y:-0.56, Z:-0.04 [[ 9.99999977e-01 -2.14167479e-04 0.00000000e+00 3.12321631e+01] [ 2.14167479e-04 9.99999977e-01 0.00000000e+00 -5.60040656e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09434791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.115336195 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:31.26, Y:-0.56, Z:-0.04 [[ 9.99973074e-01 7.33832384e-03 0.00000000e+00 3.12626221e+01] [-7.33832384e-03 9.99973074e-01 0.00000000e+00 -5.63309134e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.15003364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.145336195000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.29, Y:-0.57, Z:-0.05 [[ 9.99943172e-01 1.06608355e-02 0.00000000e+00 3.12906761e+01] [-1.06608355e-02 9.99943172e-01 0.00000000e+00 -5.67682423e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.06858410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.175336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:31.32, Y:-0.57, Z:-0.05 [[ 9.99892847e-01 1.46388209e-02 0.00000000e+00 3.13209643e+01] [-1.46388209e-02 9.99892847e-01 0.00000000e+00 -5.71409584e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33864948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.35, Y:-0.57, Z:-0.05 [[ 9.99870560e-01 1.60892403e-02 0.00000000e+00 3.13492203e+01] [-1.60892403e-02 9.99870560e-01 0.00000000e+00 -5.66869579e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46713720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.235336195000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:31.38, Y:-0.56, Z:-0.05 [[ 9.99845601e-01 1.75719532e-02 0.00000000e+00 3.13779105e+01] [-1.75719532e-02 9.99845601e-01 0.00000000e+00 -5.61143143e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34316091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.41, Y:-0.56, Z:-0.06 [[ 9.99795041e-01 2.02453887e-02 0.00000000e+00 3.14069832e+01] [-2.02453887e-02 9.99795041e-01 0.00000000e+00 -5.60461808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.60075926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.44, Y:-0.57, Z:-0.06 [[ 9.99752322e-01 2.22552293e-02 0.00000000e+00 3.14359627e+01] [-2.22552293e-02 9.99752322e-01 0.00000000e+00 -5.69442738e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97423830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.325336195000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.46, Y:-0.57, Z:-0.06 [[ 9.99751130e-01 2.23086841e-02 0.00000000e+00 3.14636581e+01] [-2.23086841e-02 9.99751130e-01 0.00000000e+00 -5.73740185e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.22072465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.355336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.49, Y:-0.57, Z:-0.05 [[ 9.99789473e-01 2.05185353e-02 0.00000000e+00 3.14922361e+01] [-2.05185353e-02 9.99789473e-01 0.00000000e+00 -5.73064462e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.49507632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.52, Y:-0.57, Z:-0.05 [[ 9.99823528e-01 1.87859994e-02 0.00000000e+00 3.15208236e+01] [-1.87859994e-02 9.99823528e-01 0.00000000e+00 -5.68450952e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59025466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.415336195000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.55, Y:-0.56, Z:-0.04 [[ 9.99906719e-01 1.36584319e-02 0.00000000e+00 3.15483322e+01] [-1.36584319e-02 9.99906719e-01 0.00000000e+00 -5.64644779e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20745072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.445336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.58, Y:-0.56, Z:-0.04 [[ 9.99907650e-01 1.35901308e-02 0.00000000e+00 3.15767808e+01] [-1.35901308e-02 9.99907650e-01 0.00000000e+00 -5.64913115e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20745072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.60, Y:-0.57, Z:-0.04 [[ 9.99950347e-01 9.96513020e-03 0.00000000e+00 3.16043956e+01] [-9.96513020e-03 9.99950347e-01 0.00000000e+00 -5.68491870e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18438553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.63, Y:-0.58, Z:-0.05 [[ 9.99992757e-01 3.80597490e-03 0.00000000e+00 3.16318646e+01] [-3.80597490e-03 9.99992757e-01 0.00000000e+00 -5.76169392e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.73812145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.535336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:31.66, Y:-0.58, Z:-0.05 [[ 9.99998300e-01 1.84408035e-03 0.00000000e+00 3.16591454e+01] [-1.84408035e-03 9.99998300e-01 0.00000000e+00 -5.78662049e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41830089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.69, Y:-0.58, Z:-0.05 [[ 9.99999807e-01 -6.21465685e-04 0.00000000e+00 3.16897895e+01] [ 6.21465685e-04 9.99999807e-01 0.00000000e+00 -5.78036295e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22937133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.595336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.72, Y:-0.57, Z:-0.05 [[ 9.99997336e-01 2.30833721e-03 0.00000000e+00 3.17204685e+01] [-2.30833721e-03 9.99997336e-01 0.00000000e+00 -5.72119292e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16899360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.625336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.75, Y:-0.57, Z:-0.05 [[ 9.99989146e-01 4.65922597e-03 0.00000000e+00 3.17501451e+01] [-4.65922597e-03 9.99989146e-01 0.00000000e+00 -5.72286081e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10480733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.655336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:31.78, Y:-0.57, Z:-0.05 [[ 9.99976322e-01 6.88157833e-03 0.00000000e+00 3.17783276e+01] [-6.88157833e-03 9.99976322e-01 0.00000000e+00 -5.74460694e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42824841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.685336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:31.81, Y:-0.58, Z:-0.06 [[ 9.99939397e-01 1.10092186e-02 0.00000000e+00 3.18060922e+01] [-1.10092186e-02 9.99939397e-01 0.00000000e+00 -5.79015286e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.06305960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.715336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.84, Y:-0.58, Z:-0.05 [[ 9.99933452e-01 1.15365270e-02 0.00000000e+00 3.18351659e+01] [-1.15365270e-02 9.99933452e-01 0.00000000e+00 -5.76948057e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30115027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.745336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:31.86, Y:-0.57, Z:-0.05 [[ 9.99938134e-01 1.11232877e-02 0.00000000e+00 3.18638982e+01] [-1.11232877e-02 9.99938134e-01 0.00000000e+00 -5.66745081e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52723047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.775336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:31.89, Y:-0.56, Z:-0.05 [[ 9.99965837e-01 8.26586809e-03 0.00000000e+00 3.18912612e+01] [-8.26586809e-03 9.99965837e-01 0.00000000e+00 -5.64011654e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80489170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.805336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.92, Y:-0.56, Z:-0.05 [[ 9.99973379e-01 7.29663672e-03 0.00000000e+00 3.19203181e+01] [-7.29663672e-03 9.99973379e-01 0.00000000e+00 -5.63218153e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61542144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.835336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:31.95, Y:-0.56, Z:-0.05 [[ 9.99991625e-01 4.09265842e-03 0.00000000e+00 3.19490226e+01] [-4.09265842e-03 9.99991625e-01 0.00000000e+00 -5.64702628e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11808792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.865336195 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:31.98, Y:-0.57, Z:-0.06 [[ 9.99998844e-01 1.52056862e-03 0.00000000e+00 3.19768162e+01] [-1.52056862e-03 9.99998844e-01 0.00000000e+00 -5.67303495e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54619500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.895336195000002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:32.01, Y:-0.56, Z:-0.06 [[ 9.99998663e-01 -1.63547281e-03 0.00000000e+00 3.20065689e+01] [ 1.63547281e-03 9.99998663e-01 0.00000000e+00 -5.64919634e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62048642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.925336195 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:32.04, Y:-0.56, Z:-0.05 [[ 9.99991474e-01 -4.12929174e-03 0.00000000e+00 3.20382319e+01] [ 4.12929174e-03 9.99991474e-01 0.00000000e+00 -5.59258943e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33700066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.955336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:32.07, Y:-0.55, Z:-0.05 [[ 9.99957505e-01 -9.21889892e-03 0.00000000e+00 3.20707978e+01] [ 9.21889892e-03 9.99957505e-01 0.00000000e+00 -5.53301846e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84092954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.985336195000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.10, Y:-0.56, Z:-0.05 [[ 9.99943323e-01 -1.06465931e-02 0.00000000e+00 3.21028618e+01] [ 1.06465931e-02 9.99943323e-01 0.00000000e+00 -5.56478470e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13720128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.015336194999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.13, Y:-0.56, Z:-0.05 [[ 9.99888585e-01 -1.49270569e-02 0.00000000e+00 3.21341152e+01] [ 1.49270569e-02 9.99888585e-01 0.00000000e+00 -5.64444404e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47112105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.045336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:32.17, Y:-0.56, Z:-0.05 [[ 9.99874858e-01 -1.58198619e-02 0.00000000e+00 3.21664478e+01] [ 1.58198619e-02 9.99874858e-01 0.00000000e+00 -5.63533166e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.05895852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.075336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:32.20, Y:-0.55, Z:-0.05 [[ 9.99908372e-01 -1.35368973e-02 0.00000000e+00 3.21976873e+01] [ 1.35368973e-02 9.99908372e-01 0.00000000e+00 -5.52824065e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.87202694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.105336195 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:32.23, Y:-0.55, Z:-0.05 [[ 9.99924760e-01 -1.22668250e-02 0.00000000e+00 3.22291817e+01] [ 1.22668250e-02 9.99924760e-01 0.00000000e+00 -5.48936086e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12093655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.135336194999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.26, Y:-0.54, Z:-0.05 [[ 9.99971695e-01 -7.52387017e-03 0.00000000e+00 3.22616830e+01] [ 7.52387017e-03 9.99971695e-01 0.00000000e+00 -5.44612271e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65521184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.165336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.29, Y:-0.55, Z:-0.05 [[ 9.99984463e-01 -5.57439919e-03 0.00000000e+00 3.22931351e+01] [ 5.57439919e-03 9.99984463e-01 0.00000000e+00 -5.46570773e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04463911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.195336194999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.32, Y:-0.55, Z:-0.05 [[ 9.99987551e-01 -4.98971440e-03 0.00000000e+00 3.23244926e+01] [ 4.98971440e-03 9.99987551e-01 0.00000000e+00 -5.49508638e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46631097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.225336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.36, Y:-0.55, Z:-0.05 [[ 9.99984460e-01 -5.57490325e-03 0.00000000e+00 3.23554379e+01] [ 5.57490325e-03 9.99984460e-01 0.00000000e+00 -5.46741831e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30406515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.255336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:32.39, Y:-0.54, Z:-0.04 [[ 9.99975587e-01 -6.98756856e-03 0.00000000e+00 3.23879185e+01] [ 6.98756856e-03 9.99975587e-01 0.00000000e+00 -5.40423741e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37202569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.285336195 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:32.42, Y:-0.54, Z:-0.04 [[ 9.99969376e-01 -7.82598675e-03 0.00000000e+00 3.24204911e+01] [ 7.82598675e-03 9.99969376e-01 0.00000000e+00 -5.40796342e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30962285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.315336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.45, Y:-0.54, Z:-0.04 [[ 9.99944518e-01 -1.05338363e-02 0.00000000e+00 3.24523780e+01] [ 1.05338363e-02 9.99944518e-01 0.00000000e+00 -5.42515070e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27499022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.345336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.48, Y:-0.55, Z:-0.05 [[ 9.99893951e-01 -1.45631820e-02 0.00000000e+00 3.24836503e+01] [ 1.45631820e-02 9.99893951e-01 0.00000000e+00 -5.45600848e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.71762544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.375336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.51, Y:-0.55, Z:-0.05 [[ 9.99880827e-01 -1.54380060e-02 0.00000000e+00 3.25145542e+01] [ 1.54380060e-02 9.99880827e-01 0.00000000e+00 -5.47566333e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29679925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.405336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:32.55, Y:-0.54, Z:-0.05 [[ 9.99891069e-01 -1.47597359e-02 0.00000000e+00 3.25464163e+01] [ 1.47597359e-02 9.99891069e-01 0.00000000e+00 -5.42053038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83734861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.435336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:32.58, Y:-0.54, Z:-0.05 [[ 9.99909731e-01 -1.34361551e-02 0.00000000e+00 3.25772165e+01] [ 1.34361551e-02 9.99909731e-01 0.00000000e+00 -5.38720290e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.94253907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.465336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.61, Y:-0.54, Z:-0.05 [[ 9.99940652e-01 -1.08945836e-02 0.00000000e+00 3.26103016e+01] [ 1.08945836e-02 9.99940652e-01 0.00000000e+00 -5.40337085e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10128553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.495336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.64, Y:-0.54, Z:-0.05 [[ 9.99951473e-01 -9.85145317e-03 0.00000000e+00 3.26412067e+01] [ 9.85145317e-03 9.99951473e-01 0.00000000e+00 -5.42048174e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.39165582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.525336194999994 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:32.67, Y:-0.54, Z:-0.06 [[ 9.99961774e-01 -8.74354828e-03 0.00000000e+00 3.26720528e+01] [ 8.74354828e-03 9.99961774e-01 0.00000000e+00 -5.39692128e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.66579518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.555336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.70, Y:-0.54, Z:-0.05 [[ 9.99962435e-01 -8.66764791e-03 0.00000000e+00 3.27047219e+01] [ 8.66764791e-03 9.99962435e-01 0.00000000e+00 -5.39544537e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.37664235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.585336195 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:32.74, Y:-0.54, Z:-0.05 [[ 9.99958753e-01 -9.08248730e-03 0.00000000e+00 3.27359305e+01] [ 9.08248730e-03 9.99958753e-01 0.00000000e+00 -5.39101391e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34726696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.615336195 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:32.77, Y:-0.54, Z:-0.05 [[ 9.99960112e-01 -8.93164351e-03 0.00000000e+00 3.27681623e+01] [ 8.93164351e-03 9.99960112e-01 0.00000000e+00 -5.36380210e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52560298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.80, Y:-0.54, Z:-0.04 [[ 9.99958602e-01 -9.09911921e-03 0.00000000e+00 3.27992971e+01] [ 9.09911921e-03 9.99958602e-01 0.00000000e+00 -5.39014169e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31946041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.675336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:32.83, Y:-0.54, Z:-0.04 [[ 9.99962084e-01 -8.70810249e-03 0.00000000e+00 3.28319859e+01] [ 8.70810249e-03 9.99962084e-01 0.00000000e+00 -5.41313846e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.25469988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.705336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.86, Y:-0.54, Z:-0.05 [[ 9.99976981e-01 -6.78508081e-03 0.00000000e+00 3.28631301e+01] [ 6.78508081e-03 9.99976981e-01 0.00000000e+00 -5.39095923e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65187154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.735336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.90, Y:-0.54, Z:-0.05 [[ 9.99985345e-01 -5.41384934e-03 0.00000000e+00 3.28952007e+01] [ 5.41384934e-03 9.99985345e-01 0.00000000e+00 -5.35478662e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52577939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.765336194999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.92, Y:-0.54, Z:-0.05 [[ 9.99996845e-01 -2.51199743e-03 0.00000000e+00 3.29238582e+01] [ 2.51199743e-03 9.99996845e-01 0.00000000e+00 -5.36015307e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97111275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.96, Y:-0.54, Z:-0.05 [[ 9.99999310e-01 -1.17459276e-03 0.00000000e+00 3.29556258e+01] [ 1.17459276e-03 9.99999310e-01 0.00000000e+00 -5.42188337e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42773572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.825336195 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:32.99, Y:-0.55, Z:-0.06 [[ 9.99999736e-01 -7.26610832e-04 0.00000000e+00 3.29865321e+01] [ 7.26610832e-04 9.99999736e-01 0.00000000e+00 -5.48719662e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94226096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.855336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:33.02, Y:-0.55, Z:-0.06 [[ 9.99999800e-01 -6.31773352e-04 0.00000000e+00 3.30172921e+01] [ 6.31773352e-04 9.99999800e-01 0.00000000e+00 -5.48449241e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.07030567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.885336194999994 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:33.05, Y:-0.54, Z:-0.05 [[ 9.99999872e-01 5.06377990e-04 0.00000000e+00 3.30463584e+01] [-5.06377990e-04 9.99999872e-01 0.00000000e+00 -5.42505979e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41677803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.915336194999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:33.08, Y:-0.54, Z:-0.05 [[ 9.99998848e-01 1.51794715e-03 0.00000000e+00 3.30772642e+01] [-1.51794715e-03 9.99998848e-01 0.00000000e+00 -5.43090784e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09409124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.945336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.11, Y:-0.55, Z:-0.05 [[ 9.99993197e-01 3.68867924e-03 0.00000000e+00 3.31067820e+01] [-3.68867924e-03 9.99993197e-01 0.00000000e+00 -5.47700343e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03926316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.13, Y:-0.55, Z:-0.05 [[ 9.99986474e-01 5.20119929e-03 0.00000000e+00 3.31344990e+01] [-5.20119929e-03 9.99986474e-01 0.00000000e+00 -5.51998352e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31801089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.16, Y:-0.56, Z:-0.05 [[ 9.99968054e-01 7.99319089e-03 0.00000000e+00 3.31628727e+01] [-7.99319089e-03 9.99968054e-01 0.00000000e+00 -5.56535893e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26579299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.035336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:33.19, Y:-0.55, Z:-0.05 [[ 9.99945654e-01 1.04253861e-02 0.00000000e+00 3.31919842e+01] [-1.04253861e-02 9.99945654e-01 0.00000000e+00 -5.52605263e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99611995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.065336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.22, Y:-0.55, Z:-0.05 [[ 9.99931997e-01 1.16619758e-02 0.00000000e+00 3.32197789e+01] [-1.16619758e-02 9.99931997e-01 0.00000000e+00 -5.49228400e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.95881180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.095336194999994 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:33.25, Y:-0.54, Z:-0.05 [[ 9.99881926e-01 1.53666809e-02 0.00000000e+00 3.32489818e+01] [-1.53666809e-02 9.99881926e-01 0.00000000e+00 -5.44797396e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83778465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.125336194999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.28, Y:-0.55, Z:-0.05 [[ 9.99850623e-01 1.72838499e-02 0.00000000e+00 3.32759123e+01] [-1.72838499e-02 9.99850623e-01 0.00000000e+00 -5.45234610e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13564761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.155336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:33.31, Y:-0.55, Z:-0.05 [[ 9.99835916e-01 1.81146560e-02 0.00000000e+00 3.33062912e+01] [-1.81146560e-02 9.99835916e-01 0.00000000e+00 -5.46110007e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29029796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.185336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.33, Y:-0.54, Z:-0.05 [[ 9.99842586e-01 1.77427230e-02 0.00000000e+00 3.33342508e+01] [-1.77427230e-02 9.99842586e-01 0.00000000e+00 -5.43305208e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03592250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.215336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:33.36, Y:-0.53, Z:-0.05 [[ 9.99876151e-01 1.57379143e-02 0.00000000e+00 3.33622728e+01] [-1.57379143e-02 9.99876151e-01 0.00000000e+00 -5.34845828e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04488540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.245336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:33.39, Y:-0.53, Z:-0.05 [[ 9.99896355e-01 1.43971888e-02 0.00000000e+00 3.33912987e+01] [-1.43971888e-02 9.99896355e-01 0.00000000e+00 -5.31755147e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62752019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.275336194999994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:33.42, Y:-0.53, Z:-0.05 [[ 9.99939393e-01 1.10095990e-02 0.00000000e+00 3.34180738e+01] [-1.10095990e-02 9.99939393e-01 0.00000000e+00 -5.28157697e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76535793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.305336194999995 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:33.45, Y:-0.53, Z:-0.05 [[ 9.99939774e-01 1.09749341e-02 0.00000000e+00 3.34455393e+01] [-1.09749341e-02 9.99939774e-01 0.00000000e+00 -5.28464307e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76535793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.335336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:33.48, Y:-0.53, Z:-0.05 [[ 9.99959671e-01 8.98086149e-03 0.00000000e+00 3.34761533e+01] [-8.98086149e-03 9.99959671e-01 0.00000000e+00 -5.28576400e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74757245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.51, Y:-0.52, Z:-0.04 [[ 9.99990501e-01 4.35859692e-03 0.00000000e+00 3.35054070e+01] [-4.35859692e-03 9.99990501e-01 0.00000000e+00 -5.21123767e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38410036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.395336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:33.53, Y:-0.52, Z:-0.04 [[ 9.99997492e-01 2.23955204e-03 0.00000000e+00 3.35335727e+01] [-2.23955204e-03 9.99997492e-01 0.00000000e+00 -5.16506887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.43602230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.425336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.56, Y:-0.51, Z:-0.05 [[ 9.99999490e-01 -1.01038281e-03 0.00000000e+00 3.35624487e+01] [ 1.01038281e-03 9.99999490e-01 0.00000000e+00 -5.09623893e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61058463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.455336194999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:33.59, Y:-0.51, Z:-0.05 [[ 9.99992317e-01 -3.92004384e-03 0.00000000e+00 3.35940518e+01] [ 3.92004384e-03 9.99992317e-01 0.00000000e+00 -5.10338985e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.28032341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.485336194999995 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:33.63, Y:-0.51, Z:-0.06 [[ 9.99985800e-01 -5.32909876e-03 0.00000000e+00 3.36251443e+01] [ 5.32909876e-03 9.99985800e-01 0.00000000e+00 -5.09184584e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.55449705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.515336194999996 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:33.66, Y:-0.50, Z:-0.05 [[ 9.99973008e-01 -7.34739761e-03 0.00000000e+00 3.36566568e+01] [ 7.34739761e-03 9.99973008e-01 0.00000000e+00 -4.98448526e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30974074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.545336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:33.69, Y:-0.49, Z:-0.05 [[ 9.99964747e-01 -8.39675791e-03 0.00000000e+00 3.36875168e+01] [ 8.39675791e-03 9.99964747e-01 0.00000000e+00 -4.93549486e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43839374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.575336195 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:33.72, Y:-0.49, Z:-0.05 [[ 9.99947429e-01 -1.02537268e-02 0.00000000e+00 3.37198947e+01] [ 1.02537268e-02 9.99947429e-01 0.00000000e+00 -4.88879971e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80738464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.605336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:33.75, Y:-0.49, Z:-0.05 [[ 9.99940521e-01 -1.09066428e-02 0.00000000e+00 3.37510696e+01] [ 1.09066428e-02 9.99940521e-01 0.00000000e+00 -4.88659617e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98572685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.635336194999994 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:33.78, Y:-0.49, Z:-0.05 [[ 9.99935276e-01 -1.13773269e-02 0.00000000e+00 3.37830693e+01] [ 1.13773269e-02 9.99935276e-01 0.00000000e+00 -4.89407382e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07714615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.665336194999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:33.81, Y:-0.49, Z:-0.05 [[ 9.99932813e-01 -1.15917709e-02 0.00000000e+00 3.38149960e+01] [ 1.15917709e-02 9.99932813e-01 0.00000000e+00 -4.89913931e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18742338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.695336194999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:33.85, Y:-0.48, Z:-0.05 [[ 9.99935386e-01 -1.13676383e-02 0.00000000e+00 3.38465406e+01] [ 1.13676383e-02 9.99935386e-01 0.00000000e+00 -4.82031445e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60544551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.725336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:33.88, Y:-0.48, Z:-0.04 [[ 9.99936926e-01 -1.12314250e-02 0.00000000e+00 3.38775492e+01] [ 1.12314250e-02 9.99936926e-01 0.00000000e+00 -4.76507817e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47319009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.755336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.91, Y:-0.47, Z:-0.04 [[ 9.99935696e-01 -1.13403931e-02 0.00000000e+00 3.39097137e+01] [ 1.13403931e-02 9.99935696e-01 0.00000000e+00 -4.72057381e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46505030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.785336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:33.94, Y:-0.47, Z:-0.04 [[ 9.99925493e-01 -1.22068903e-02 0.00000000e+00 3.39418238e+01] [ 1.22068903e-02 9.99925493e-01 0.00000000e+00 -4.69728323e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.48943178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.815336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:33.97, Y:-0.47, Z:-0.05 [[ 9.99919881e-01 -1.26582510e-02 0.00000000e+00 3.39725453e+01] [ 1.26582510e-02 9.99919881e-01 0.00000000e+00 -4.72987472e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99456449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.845336194999994 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:34.00, Y:-0.48, Z:-0.06 [[ 9.99889307e-01 -1.48786576e-02 0.00000000e+00 3.40032963e+01] [ 1.48786576e-02 9.99889307e-01 0.00000000e+00 -4.79462104e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.69314393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.875336194999996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:34.04, Y:-0.48, Z:-0.05 [[ 9.99854507e-01 -1.70576989e-02 0.00000000e+00 3.40361497e+01] [ 1.70576989e-02 9.99854507e-01 0.00000000e+00 -4.75568347e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.35105258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.905336195 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:34.07, Y:-0.47, Z:-0.05 [[ 9.99854450e-01 -1.70610550e-02 0.00000000e+00 3.40670996e+01] [ 1.70610550e-02 9.99854450e-01 0.00000000e+00 -4.73476731e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36740881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.935336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:34.10, Y:-0.48, Z:-0.05 [[ 9.99905758e-01 -1.37286565e-02 0.00000000e+00 3.40990948e+01] [ 1.37286565e-02 9.99905758e-01 0.00000000e+00 -4.75086011e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.73643963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.965336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:34.13, Y:-0.48, Z:-0.05 [[ 9.99931498e-01 -1.17047104e-02 0.00000000e+00 3.41310020e+01] [ 1.17047104e-02 9.99931498e-01 0.00000000e+00 -4.76925156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84611144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.995336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.16, Y:-0.48, Z:-0.05 [[ 9.99958652e-01 -9.09369250e-03 0.00000000e+00 3.41634088e+01] [ 9.09369250e-03 9.99958652e-01 0.00000000e+00 -4.77049811e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76667938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.025336194999994 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:34.20, Y:-0.47, Z:-0.05 [[ 9.99993595e-01 -3.57901461e-03 0.00000000e+00 3.41952437e+01] [ 3.57901461e-03 9.99993595e-01 0.00000000e+00 -4.72058572e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69774224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.055336194999995 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:34.23, Y:-0.47, Z:-0.05 [[ 9.99997996e-01 2.00207276e-03 0.00000000e+00 3.42270690e+01] [-2.00207276e-03 9.99997996e-01 0.00000000e+00 -4.71403565e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90338836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.085336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:34.26, Y:-0.47, Z:-0.05 [[ 9.99989247e-01 4.63742685e-03 0.00000000e+00 3.42556402e+01] [-4.63742685e-03 9.99989247e-01 0.00000000e+00 -4.72119182e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07621268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.115336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:34.28, Y:-0.47, Z:-0.05 [[ 9.99980489e-01 6.24680150e-03 0.00000000e+00 3.42840272e+01] [-6.24680150e-03 9.99980489e-01 0.00000000e+00 -4.71459940e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98700482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.145336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:34.31, Y:-0.47, Z:-0.05 [[ 9.99977254e-01 6.74475971e-03 0.00000000e+00 3.43116646e+01] [-6.74475971e-03 9.99977254e-01 0.00000000e+00 -4.69022243e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88861824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.175336195 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:34.34, Y:-0.47, Z:-0.05 [[ 9.99990743e-01 4.30288595e-03 0.00000000e+00 3.43406346e+01] [-4.30288595e-03 9.99990743e-01 0.00000000e+00 -4.66042485e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76623009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.205336194999994 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:34.37, Y:-0.47, Z:-0.05 [[ 9.99998387e-01 1.79589413e-03 0.00000000e+00 3.43682328e+01] [-1.79589413e-03 9.99998387e-01 0.00000000e+00 -4.65473262e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03364389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.235336194999995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:34.40, Y:-0.47, Z:-0.05 [[ 9.99993844e-01 -3.50887168e-03 0.00000000e+00 3.43967664e+01] [ 3.50887168e-03 9.99993844e-01 0.00000000e+00 -4.67801856e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.23571708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.265336194999996 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:34.43, Y:-0.47, Z:-0.05 [[ 9.99981190e-01 -6.13350073e-03 0.00000000e+00 3.44285127e+01] [ 6.13350073e-03 9.99981190e-01 0.00000000e+00 -4.70536615e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83899049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.295336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:34.46, Y:-0.47, Z:-0.05 [[ 9.99965888e-01 -8.25972947e-03 0.00000000e+00 3.44602735e+01] [ 8.25972947e-03 9.99965888e-01 0.00000000e+00 -4.73452137e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70216417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.325336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:34.49, Y:-0.48, Z:-0.05 [[ 9.99929617e-01 -1.18642595e-02 0.00000000e+00 3.44920078e+01] [ 1.18642595e-02 9.99929617e-01 0.00000000e+00 -4.77286392e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.27223551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.355336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:34.53, Y:-0.48, Z:-0.05 [[ 9.99912158e-01 -1.32543180e-02 0.00000000e+00 3.45252252e+01] [ 1.32543180e-02 9.99912158e-01 0.00000000e+00 -4.77316229e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83942639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.385336194999994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:34.56, Y:-0.47, Z:-0.05 [[ 9.99920654e-01 -1.25970687e-02 0.00000000e+00 3.45565079e+01] [ 1.25970687e-02 9.99920654e-01 0.00000000e+00 -4.73811038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57446544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.415336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:34.59, Y:-0.48, Z:-0.05 [[ 9.99957976e-01 -9.16767363e-03 0.00000000e+00 3.45885712e+01] [ 9.16767363e-03 9.99957976e-01 0.00000000e+00 -4.75414983e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60776756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.445336194999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:34.62, Y:-0.48, Z:-0.05 [[ 9.99974527e-01 -7.13763749e-03 0.00000000e+00 3.46195460e+01] [ 7.13763749e-03 9.99974527e-01 0.00000000e+00 -4.78269243e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90358060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.475336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:34.65, Y:-0.48, Z:-0.05 [[ 9.99983823e-01 -5.68806344e-03 0.00000000e+00 3.46502223e+01] [ 5.68806344e-03 9.99983823e-01 0.00000000e+00 -4.81460268e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04332863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.68, Y:-0.48, Z:-0.05 [[ 9.99995962e-01 -2.84183778e-03 0.00000000e+00 3.46820552e+01] [ 2.84183778e-03 9.99995962e-01 0.00000000e+00 -4.80754189e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83194506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.535336195 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:34.71, Y:-0.47, Z:-0.04 [[ 9.99999980e-01 -1.99236730e-04 0.00000000e+00 3.47139589e+01] [ 1.99236730e-04 9.99999980e-01 0.00000000e+00 -4.73590047e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17340959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.565336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:34.74, Y:-0.47, Z:-0.04 [[ 9.99998937e-01 1.45839569e-03 0.00000000e+00 3.47447443e+01] [-1.45839569e-03 9.99998937e-01 0.00000000e+00 -4.72519683e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.12315166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.595336194999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.77, Y:-0.47, Z:-0.04 [[ 9.99994210e-01 3.40299060e-03 0.00000000e+00 3.47729981e+01] [-3.40299060e-03 9.99994210e-01 0.00000000e+00 -4.73297997e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46731552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.625336194999996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.80, Y:-0.48, Z:-0.05 [[ 9.99969520e-01 7.80758175e-03 0.00000000e+00 3.48003111e+01] [-7.80758175e-03 9.99969520e-01 0.00000000e+00 -4.75613120e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17710297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.655336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:34.83, Y:-0.47, Z:-0.05 [[ 9.99931129e-01 1.17361920e-02 0.00000000e+00 3.48291262e+01] [-1.17361920e-02 9.99931129e-01 0.00000000e+00 -4.73980855e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33367404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.685336195 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:34.86, Y:-0.47, Z:-0.05 [[ 9.99911063e-01 1.33366405e-02 0.00000000e+00 3.48584098e+01] [-1.33366405e-02 9.99911063e-01 0.00000000e+00 -4.72347828e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36828961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.715336195 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:34.89, Y:-0.47, Z:-0.05 [[ 9.99894265e-01 1.45415943e-02 0.00000000e+00 3.48858103e+01] [-1.45415943e-02 9.99894265e-01 0.00000000e+00 -4.68765319e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13565499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.745336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:34.91, Y:-0.46, Z:-0.05 [[ 9.99874784e-01 1.58245316e-02 0.00000000e+00 3.49135582e+01] [-1.58245316e-02 9.99874784e-01 0.00000000e+00 -4.62550493e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11182921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.775336194999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:34.94, Y:-0.46, Z:-0.06 [[ 9.99870943e-01 1.60653989e-02 0.00000000e+00 3.49420401e+01] [-1.60653989e-02 9.99870943e-01 0.00000000e+00 -4.61614889e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.55642942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.805336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.97, Y:-0.46, Z:-0.05 [[ 9.99879937e-01 1.54955575e-02 0.00000000e+00 3.49711786e+01] [-1.54955575e-02 9.99879937e-01 0.00000000e+00 -4.61848417e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30933758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.835336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.00, Y:-0.46, Z:-0.05 [[ 9.99909598e-01 1.34459995e-02 0.00000000e+00 3.49993710e+01] [-1.34459995e-02 9.99909598e-01 0.00000000e+00 -4.59244599e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16502933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.03, Y:-0.46, Z:-0.05 [[ 9.99925442e-01 1.22110507e-02 0.00000000e+00 3.50277021e+01] [-1.22110507e-02 9.99925442e-01 0.00000000e+00 -4.55665023e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57189483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.895336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:35.06, Y:-0.45, Z:-0.05 [[ 9.99960555e-01 8.88190813e-03 0.00000000e+00 3.50562736e+01] [-8.88190813e-03 9.99960555e-01 0.00000000e+00 -4.50941804e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58421732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.925336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.08, Y:-0.45, Z:-0.05 [[ 9.99974366e-01 7.16012407e-03 0.00000000e+00 3.50843900e+01] [-7.16012407e-03 9.99974366e-01 0.00000000e+00 -4.49297606e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63328785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.955336194999994 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:35.11, Y:-0.44, Z:-0.05 [[ 9.99989287e-01 4.62877538e-03 0.00000000e+00 3.51124446e+01] [-4.62877538e-03 9.99989287e-01 0.00000000e+00 -4.41452941e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65018681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.985336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.14, Y:-0.44, Z:-0.05 [[ 9.99994507e-01 3.31444317e-03 0.00000000e+00 3.51404747e+01] [-3.31444317e-03 9.99994507e-01 0.00000000e+00 -4.38632985e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83774225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.015336194999996 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:35.17, Y:-0.43, Z:-0.05 [[ 9.99999083e-01 -1.35396824e-03 0.00000000e+00 3.51689077e+01] [ 1.35396824e-03 9.99999083e-01 0.00000000e+00 -4.33013248e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.48933611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.045336195 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:35.20, Y:-0.43, Z:-0.05 [[ 9.99989350e-01 -4.61523078e-03 0.00000000e+00 3.52004408e+01] [ 4.61523078e-03 9.99989350e-01 0.00000000e+00 -4.30503506e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.48134608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.075336195 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:35.23, Y:-0.43, Z:-0.05 [[ 9.99917857e-01 -1.28171137e-02 0.00000000e+00 3.52324289e+01] [ 1.28171137e-02 9.99917857e-01 0.00000000e+00 -4.27994359e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.27943650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.105336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:35.26, Y:-0.43, Z:-0.05 [[ 9.99862900e-01 -1.65584203e-02 0.00000000e+00 3.52642628e+01] [ 1.65584203e-02 9.99862900e-01 0.00000000e+00 -4.29401110e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.24626366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.135336194999994 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:35.30, Y:-0.43, Z:-0.05 [[ 9.99735446e-01 -2.30008110e-02 0.00000000e+00 3.52955898e+01] [ 2.30008110e-02 9.99735446e-01 0.00000000e+00 -4.28731265e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34459965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.165336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.33, Y:-0.43, Z:-0.05 [[ 9.99693447e-01 -2.47590881e-02 0.00000000e+00 3.53277390e+01] [ 2.47590881e-02 9.99693447e-01 0.00000000e+00 -4.26716399e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.00502868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.195336194999996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:35.36, Y:-0.43, Z:-0.05 [[ 9.99619050e-01 -2.75999230e-02 0.00000000e+00 3.53589399e+01] [ 2.75999230e-02 9.99619050e-01 0.00000000e+00 -4.26459484e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97635153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.225336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:35.39, Y:-0.43, Z:-0.05 [[ 9.99624026e-01 -2.74190834e-02 0.00000000e+00 3.53925900e+01] [ 2.74190834e-02 9.99624026e-01 0.00000000e+00 -4.27069785e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97635153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.255336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.43, Y:-0.43, Z:-0.05 [[ 9.99617674e-01 -2.76496819e-02 0.00000000e+00 3.54254219e+01] [ 2.76496819e-02 9.99617674e-01 0.00000000e+00 -4.27584791e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77656534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.285336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.46, Y:-0.43, Z:-0.05 [[ 9.99638330e-01 -2.68925377e-02 0.00000000e+00 3.54564364e+01] [ 2.68925377e-02 9.99638330e-01 0.00000000e+00 -4.26479207e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.95534915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31533619499999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:35.49, Y:-0.43, Z:-0.05 [[ 9.99650484e-01 -2.64369191e-02 0.00000000e+00 3.54885965e+01] [ 2.64369191e-02 9.99650484e-01 0.00000000e+00 -4.26790368e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.92704884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.345336194999994 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:35.52, Y:-0.43, Z:-0.05 [[ 9.99710459e-01 -2.40623604e-02 0.00000000e+00 3.55191090e+01] [ 2.40623604e-02 9.99710459e-01 0.00000000e+00 -4.28505740e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.49883976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.375336194999996 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:35.55, Y:-0.43, Z:-0.05 [[ 9.99762087e-01 -2.18121210e-02 0.00000000e+00 3.55512138e+01] [ 2.18121210e-02 9.99762087e-01 0.00000000e+00 -4.29261964e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.49855432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.405336195 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:35.58, Y:-0.43, Z:-0.06 [[ 9.99854898e-01 -1.70347606e-02 0.00000000e+00 3.55825516e+01] [ 1.70347606e-02 9.99854898e-01 0.00000000e+00 -4.27499292e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.03575824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.435336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:35.62, Y:-0.43, Z:-0.06 [[ 9.99898222e-01 -1.42669485e-02 0.00000000e+00 3.56152844e+01] [ 1.42669485e-02 9.99898222e-01 0.00000000e+00 -4.28895517e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.27162321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.465336195 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:35.65, Y:-0.43, Z:-0.06 [[ 9.99960924e-01 -8.84026326e-03 0.00000000e+00 3.56475104e+01] [ 8.84026326e-03 9.99960924e-01 0.00000000e+00 -4.31328599e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.03907719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.495336195 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:35.68, Y:-0.43, Z:-0.05 [[ 9.99979343e-01 -6.42762855e-03 0.00000000e+00 3.56796574e+01] [ 6.42762855e-03 9.99979343e-01 0.00000000e+00 -4.30052111e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34450091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.525336194999994 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:35.71, Y:-0.43, Z:-0.05 [[ 9.99989343e-01 -4.61676513e-03 0.00000000e+00 3.57108002e+01] [ 4.61676513e-03 9.99989343e-01 0.00000000e+00 -4.27883081e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.21686224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.555336194999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:35.74, Y:-0.43, Z:-0.05 [[ 9.99997779e-01 -2.10746969e-03 0.00000000e+00 3.57428027e+01] [ 2.10746969e-03 9.99997779e-01 0.00000000e+00 -4.26784165e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34132238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.585336195 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:35.77, Y:-0.43, Z:-0.05 [[ 9.99999655e-01 -8.30772801e-04 0.00000000e+00 3.57735241e+01] [ 8.30772801e-04 9.99999655e-01 0.00000000e+00 -4.26223171e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31137825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.615336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:35.80, Y:-0.43, Z:-0.05 [[ 9.99999984e-01 -1.80783170e-04 0.00000000e+00 3.58045767e+01] [ 1.80783170e-04 9.99999984e-01 0.00000000e+00 -4.27998650e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13200697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.84, Y:-0.43, Z:-0.05 [[ 9.99999973e-01 2.31668627e-04 0.00000000e+00 3.58350309e+01] [-2.31668627e-04 9.99999973e-01 0.00000000e+00 -4.30811954e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36455433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.675336195 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:35.86, Y:-0.43, Z:-0.06 [[ 9.99999997e-01 -7.89007873e-05 0.00000000e+00 3.58643228e+01] [ 7.89007873e-05 9.99999997e-01 0.00000000e+00 -4.33212490e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72835687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.705336194999994 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:35.89, Y:-0.43, Z:-0.06 [[ 9.99999683e-01 -7.96184253e-04 0.00000000e+00 3.58947370e+01] [ 7.96184253e-04 9.99999683e-01 0.00000000e+00 -4.32129989e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56703097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.735336194999995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:35.93, Y:-0.43, Z:-0.05 [[ 9.99995286e-01 -3.07040231e-03 0.00000000e+00 3.59258071e+01] [ 3.07040231e-03 9.99995286e-01 0.00000000e+00 -4.29067406e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.86151292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.765336194999996 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:35.96, Y:-0.43, Z:-0.05 [[ 9.99987296e-01 -5.04070957e-03 0.00000000e+00 3.59583366e+01] [ 5.04070957e-03 9.99987296e-01 0.00000000e+00 -4.31234458e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.96860942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.795336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:35.99, Y:-0.44, Z:-0.05 [[ 9.99985770e-01 -5.33471239e-03 0.00000000e+00 3.59901611e+01] [ 5.33471239e-03 9.99985770e-01 0.00000000e+00 -4.35540018e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13108180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.825336195 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:36.02, Y:-0.44, Z:-0.05 [[ 9.99981033e-01 -6.15905215e-03 0.00000000e+00 3.60212962e+01] [ 6.15905215e-03 9.99981033e-01 0.00000000e+00 -4.37723011e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22983355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.855336195 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:36.05, Y:-0.43, Z:-0.05 [[ 9.99977774e-01 -6.66715706e-03 0.00000000e+00 3.60526550e+01] [ 6.66715706e-03 9.99977774e-01 0.00000000e+00 -4.32849907e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67611424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.885336194999994 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:36.08, Y:-0.43, Z:-0.04 [[ 9.99980444e-01 -6.25391097e-03 0.00000000e+00 3.60849232e+01] [ 6.25391097e-03 9.99980444e-01 0.00000000e+00 -4.30469981e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32178774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.915336194999995 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:36.12, Y:-0.43, Z:-0.05 [[ 9.99992074e-01 -3.98143411e-03 0.00000000e+00 3.61162248e+01] [ 3.98143411e-03 9.99992074e-01 0.00000000e+00 -4.31036265e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.96948917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.945336194999996 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:36.15, Y:-0.43, Z:-0.05 [[ 9.99996251e-01 -2.73818897e-03 0.00000000e+00 3.61483363e+01] [ 2.73818897e-03 9.99996251e-01 0.00000000e+00 -4.34248918e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09676596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.975336195 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:36.18, Y:-0.44, Z:-0.06 [[ 9.99997381e-01 -2.28879398e-03 0.00000000e+00 3.61794500e+01] [ 2.28879398e-03 9.99997381e-01 0.00000000e+00 -4.40189131e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.55429124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.005336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.21, Y:-0.44, Z:-0.05 [[ 9.99996222e-01 -2.74884094e-03 0.00000000e+00 3.62103741e+01] [ 2.74884094e-03 9.99996222e-01 0.00000000e+00 -4.39965362e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.27137479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.24, Y:-0.43, Z:-0.04 [[ 9.99986872e-01 -5.12400015e-03 0.00000000e+00 3.62426754e+01] [ 5.12400015e-03 9.99986872e-01 0.00000000e+00 -4.33076208e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24671459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06533619499999 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:36.27, Y:-0.43, Z:-0.04 [[ 9.99967196e-01 -8.09979818e-03 0.00000000e+00 3.62745779e+01] [ 8.09979818e-03 9.99967196e-01 0.00000000e+00 -4.32205356e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92616043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.095336194999994 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:36.31, Y:-0.44, Z:-0.04 [[ 9.99963846e-01 -8.50332915e-03 0.00000000e+00 3.63066330e+01] [ 8.50332915e-03 9.99963846e-01 0.00000000e+00 -4.35142125e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.68635453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.125336194999996 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:36.34, Y:-0.44, Z:-0.04 [[ 9.99964465e-01 -8.43026292e-03 0.00000000e+00 3.63380094e+01] [ 8.43026292e-03 9.99964465e-01 0.00000000e+00 -4.38281370e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97556853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.155336195 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:36.37, Y:-0.44, Z:-0.05 [[ 9.99977485e-01 -6.71040652e-03 0.00000000e+00 3.63691928e+01] [ 6.71040652e-03 9.99977485e-01 0.00000000e+00 -4.39207788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62820155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.185336195 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:36.40, Y:-0.44, Z:-0.05 [[ 9.99987163e-01 -5.06687172e-03 0.00000000e+00 3.64011437e+01] [ 5.06687172e-03 9.99987163e-01 0.00000000e+00 -4.39129065e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82394101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.215336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:36.43, Y:-0.44, Z:-0.05 [[ 9.99999792e-01 -6.44792982e-04 0.00000000e+00 3.64333838e+01] [ 6.44792982e-04 9.99999792e-01 0.00000000e+00 -4.36384790e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84993858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.245336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.46, Y:-0.43, Z:-0.05 [[ 9.99999044e-01 1.38251111e-03 0.00000000e+00 3.64640027e+01] [-1.38251111e-03 9.99999044e-01 0.00000000e+00 -4.34206956e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91997852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.275336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.49, Y:-0.43, Z:-0.05 [[ 9.99992874e-01 3.77527617e-03 0.00000000e+00 3.64923104e+01] [-3.77527617e-03 9.99992874e-01 0.00000000e+00 -4.31608522e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99483691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.305336194999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.52, Y:-0.43, Z:-0.05 [[ 9.99993064e-01 3.72453430e-03 0.00000000e+00 3.65211896e+01] [-3.72453430e-03 9.99993064e-01 0.00000000e+00 -4.30269235e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83353007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.335336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:36.55, Y:-0.43, Z:-0.04 [[ 9.99999628e-01 8.62491598e-04 0.00000000e+00 3.65494621e+01] [-8.62491598e-04 9.99999628e-01 0.00000000e+00 -4.27839666e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.48217290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.365336195 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:36.58, Y:-0.43, Z:-0.04 [[ 9.99998929e-01 -1.46345037e-03 0.00000000e+00 3.65795686e+01] [ 1.46345037e-03 9.99998929e-01 0.00000000e+00 -4.27730150e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37168777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.395336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:36.61, Y:-0.43, Z:-0.05 [[ 9.99984850e-01 -5.50459139e-03 0.00000000e+00 3.66109171e+01] [ 5.50459139e-03 9.99984850e-01 0.00000000e+00 -4.31232941e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66274720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.425336195 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:36.64, Y:-0.43, Z:-0.05 [[ 9.99972396e-01 -7.43017287e-03 0.00000000e+00 3.66434078e+01] [ 7.43017287e-03 9.99972396e-01 0.00000000e+00 -4.33160170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77674042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.455336194999994 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:36.68, Y:-0.44, Z:-0.05 [[ 9.99946456e-01 -1.03481568e-02 0.00000000e+00 3.66753055e+01] [ 1.03481568e-02 9.99946456e-01 0.00000000e+00 -4.35421957e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84406901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.485336194999995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:36.71, Y:-0.44, Z:-0.05 [[ 9.99932499e-01 -1.16188529e-02 0.00000000e+00 3.67061823e+01] [ 1.16188529e-02 9.99932499e-01 0.00000000e+00 -4.35661744e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99964336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.515336194999996 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:36.74, Y:-0.43, Z:-0.05 [[ 9.99913909e-01 -1.31215668e-02 0.00000000e+00 3.67381730e+01] [ 1.31215668e-02 9.99913909e-01 0.00000000e+00 -4.33373819e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.73363304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.545336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:36.77, Y:-0.43, Z:-0.05 [[ 9.99907005e-01 -1.36374805e-02 0.00000000e+00 3.67699109e+01] [ 1.36374805e-02 9.99907005e-01 0.00000000e+00 -4.34513846e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65349638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.575336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:36.80, Y:-0.44, Z:-0.05 [[ 9.99920876e-01 -1.25794322e-02 0.00000000e+00 3.68009286e+01] [ 1.25794322e-02 9.99920876e-01 0.00000000e+00 -4.37469922e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16909334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.605336195 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:36.83, Y:-0.44, Z:-0.05 [[ 9.99923387e-01 -1.23782227e-02 0.00000000e+00 3.68335394e+01] [ 1.23782227e-02 9.99923387e-01 0.00000000e+00 -4.39586447e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98402961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.635336194999994 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:36.87, Y:-0.45, Z:-0.05 [[ 9.99913720e-01 -1.31359101e-02 0.00000000e+00 3.68653851e+01] [ 1.31359101e-02 9.99913720e-01 0.00000000e+00 -4.45641562e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04796675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.665336194999995 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:36.90, Y:-0.45, Z:-0.05 [[ 9.99903750e-01 -1.38741316e-02 0.00000000e+00 3.68977764e+01] [ 1.38741316e-02 9.99903750e-01 0.00000000e+00 -4.50078314e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99345499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.695336194999996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:36.93, Y:-0.45, Z:-0.05 [[ 9.99895693e-01 -1.44430738e-02 0.00000000e+00 3.69291342e+01] [ 1.44430738e-02 9.99895693e-01 0.00000000e+00 -4.51995573e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99509345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.725336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:36.96, Y:-0.45, Z:-0.05 [[ 9.99896561e-01 -1.43828709e-02 0.00000000e+00 3.69622831e+01] [ 1.43828709e-02 9.99896561e-01 0.00000000e+00 -4.51533180e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58105009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.755336195 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:36.99, Y:-0.45, Z:-0.05 [[ 9.99923010e-01 -1.24086362e-02 0.00000000e+00 3.69941821e+01] [ 1.24086362e-02 9.99923010e-01 0.00000000e+00 -4.54735696e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60248773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.785336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.03, Y:-0.46, Z:-0.05 [[ 9.99952191e-01 -9.77836411e-03 0.00000000e+00 3.70256385e+01] [ 9.77836411e-03 9.99952191e-01 0.00000000e+00 -4.59465713e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.37458961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81533619499999 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:37.06, Y:-0.46, Z:-0.05 [[ 9.99994122e-01 -3.42859333e-03 0.00000000e+00 3.70573464e+01] [ 3.42859333e-03 9.99994122e-01 0.00000000e+00 -4.64136663e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85290152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.845336194999994 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:37.09, Y:-0.47, Z:-0.05 [[ 9.99999960e-01 2.82404833e-04 0.00000000e+00 3.70895317e+01] [-2.82404833e-04 9.99999960e-01 0.00000000e+00 -4.65212129e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76303905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.875336194999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:37.12, Y:-0.47, Z:-0.05 [[ 9.99986098e-01 5.27285646e-03 0.00000000e+00 3.71196256e+01] [-5.27285646e-03 9.99986098e-01 0.00000000e+00 -4.65046662e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82762621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.905336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:37.15, Y:-0.47, Z:-0.05 [[ 9.99979520e-01 6.39996652e-03 0.00000000e+00 3.71478905e+01] [-6.39996652e-03 9.99979520e-01 0.00000000e+00 -4.65539242e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65625048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.935336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:37.18, Y:-0.46, Z:-0.04 [[ 9.99965619e-01 8.29215482e-03 0.00000000e+00 3.71755047e+01] [-8.29215482e-03 9.99965619e-01 0.00000000e+00 -4.63232013e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34675825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.965336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:37.20, Y:-0.46, Z:-0.04 [[ 9.99964667e-01 8.40626546e-03 0.00000000e+00 3.72045116e+01] [-8.40626546e-03 9.99964667e-01 0.00000000e+00 -4.63536877e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35508316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.995336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:37.23, Y:-0.47, Z:-0.05 [[ 9.99966183e-01 8.22392004e-03 0.00000000e+00 3.72334021e+01] [-8.22392004e-03 9.99966183e-01 0.00000000e+00 -4.71968088e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07444859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.025336194999994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:37.26, Y:-0.48, Z:-0.05 [[ 9.99968495e-01 7.93784298e-03 0.00000000e+00 3.72613443e+01] [-7.93784298e-03 9.99968495e-01 0.00000000e+00 -4.76712802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.38141413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.055336194999995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:37.29, Y:-0.48, Z:-0.05 [[ 9.99969971e-01 7.74960764e-03 0.00000000e+00 3.72910001e+01] [-7.74960764e-03 9.99969971e-01 0.00000000e+00 -4.77723495e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.56594346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.085336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.32, Y:-0.47, Z:-0.04 [[ 9.99968964e-01 7.87855636e-03 0.00000000e+00 3.73184903e+01] [-7.87855636e-03 9.99968964e-01 0.00000000e+00 -4.74844760e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30232287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.115336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.35, Y:-0.48, Z:-0.04 [[ 9.99969504e-01 7.80965162e-03 0.00000000e+00 3.73469237e+01] [-7.80965162e-03 9.99969504e-01 0.00000000e+00 -4.75217001e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30232287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.145336195 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:37.37, Y:-0.47, Z:-0.05 [[ 9.99975737e-01 6.96597708e-03 0.00000000e+00 3.73746749e+01] [-6.96597708e-03 9.99975737e-01 0.00000000e+00 -4.73418833e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85504542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.175336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:37.40, Y:-0.48, Z:-0.05 [[ 9.99982248e-01 5.95849559e-03 0.00000000e+00 3.74038387e+01] [-5.95849559e-03 9.99982248e-01 0.00000000e+00 -4.76515440e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07567507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.205336194999994 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:37.43, Y:-0.48, Z:-0.05 [[ 9.99998632e-01 1.65379121e-03 0.00000000e+00 3.74329364e+01] [-1.65379121e-03 9.99998632e-01 0.00000000e+00 -4.78406576e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68052976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.235336194999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.46, Y:-0.48, Z:-0.05 [[ 9.99999764e-01 -6.87534007e-04 0.00000000e+00 3.74627193e+01] [ 6.87534007e-04 9.99999764e-01 0.00000000e+00 -4.78488208e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.55157595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.265336194999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:37.49, Y:-0.48, Z:-0.05 [[ 9.99991785e-01 -4.05343306e-03 0.00000000e+00 3.74931138e+01] [ 4.05343306e-03 9.99991785e-01 0.00000000e+00 -4.78198172e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65844035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.295336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.53, Y:-0.48, Z:-0.05 [[ 9.99989211e-01 -4.64516172e-03 0.00000000e+00 3.75257507e+01] [ 4.64516172e-03 9.99989211e-01 0.00000000e+00 -4.79655920e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77624744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.325336195 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:37.56, Y:-0.48, Z:-0.05 [[ 9.99980535e-01 -6.23929954e-03 0.00000000e+00 3.75590791e+01] [ 6.23929954e-03 9.99980535e-01 0.00000000e+00 -4.82181642e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75656734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.355336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:37.59, Y:-0.48, Z:-0.05 [[ 9.99982027e-01 -5.99552368e-03 0.00000000e+00 3.75914332e+01] [ 5.99552368e-03 9.99982027e-01 0.00000000e+00 -4.82278565e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70436033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.385336194999994 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:37.62, Y:-0.48, Z:-0.05 [[ 9.99984146e-01 -5.63101312e-03 0.00000000e+00 3.76224762e+01] [ 5.63101312e-03 9.99984146e-01 0.00000000e+00 -4.82491058e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69823909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.415336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.65, Y:-0.48, Z:-0.04 [[ 9.99992486e-01 -3.87663021e-03 0.00000000e+00 3.76547688e+01] [ 3.87663021e-03 9.99992486e-01 0.00000000e+00 -4.79202427e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44529583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.445336194999996 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:37.68, Y:-0.47, Z:-0.05 [[ 9.99993783e-01 -3.52612183e-03 0.00000000e+00 3.76849214e+01] [ 3.52612183e-03 9.99993783e-01 0.00000000e+00 -4.72663313e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.71353298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.475336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:37.72, Y:-0.47, Z:-0.05 [[ 9.99993517e-01 -3.60075356e-03 0.00000000e+00 3.77170467e+01] [ 3.60075356e-03 9.99993517e-01 0.00000000e+00 -4.73461783e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.89494414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.505336195 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:37.75, Y:-0.48, Z:-0.05 [[ 9.99992826e-01 -3.78782470e-03 0.00000000e+00 3.77494243e+01] [ 3.78782470e-03 9.99992826e-01 0.00000000e+00 -4.77129028e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98990551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.535336195 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:37.78, Y:-0.48, Z:-0.05 [[ 9.99993359e-01 -3.64432029e-03 0.00000000e+00 3.77807966e+01] [ 3.64432029e-03 9.99993359e-01 0.00000000e+00 -4.78768748e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43772583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56533619499999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:37.81, Y:-0.48, Z:-0.05 [[ 9.99995586e-01 -2.97116180e-03 0.00000000e+00 3.78131737e+01] [ 2.97116180e-03 9.99995586e-01 0.00000000e+00 -4.75524157e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.14105625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.595336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:37.84, Y:-0.47, Z:-0.05 [[ 9.99999420e-01 -1.07658850e-03 0.00000000e+00 3.78449141e+01] [ 1.07658850e-03 9.99999420e-01 0.00000000e+00 -4.70764041e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33160698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.625336194999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:37.88, Y:-0.47, Z:-0.05 [[ 9.99999641e-01 -8.46808599e-04 0.00000000e+00 3.78762452e+01] [ 8.46808599e-04 9.99999641e-01 0.00000000e+00 -4.69067302e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62056995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.655336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:37.91, Y:-0.46, Z:-0.04 [[ 9.99999265e-01 -1.21203024e-03 0.00000000e+00 3.79069106e+01] [ 1.21203024e-03 9.99999265e-01 0.00000000e+00 -4.64340968e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86476342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.685336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:37.94, Y:-0.46, Z:-0.04 [[ 9.99998602e-01 -1.67194387e-03 0.00000000e+00 3.79376841e+01] [ 1.67194387e-03 9.99998602e-01 0.00000000e+00 -4.64483674e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98357274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.715336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:37.97, Y:-0.47, Z:-0.05 [[ 9.99993737e-01 -3.53923220e-03 0.00000000e+00 3.79688677e+01] [ 3.53923220e-03 9.99993737e-01 0.00000000e+00 -4.72436459e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84242805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.745336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.00, Y:-0.47, Z:-0.05 [[ 9.99994984e-01 -3.16744884e-03 0.00000000e+00 3.80004132e+01] [ 3.16744884e-03 9.99994984e-01 0.00000000e+00 -4.69997941e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76090820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.775336194999994 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:38.03, Y:-0.47, Z:-0.05 [[ 9.99998512e-01 -1.72518468e-03 0.00000000e+00 3.80323527e+01] [ 1.72518468e-03 9.99998512e-01 0.00000000e+00 -4.66344341e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58024512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.805336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.06, Y:-0.47, Z:-0.05 [[ 9.99999976e-01 2.19540138e-04 0.00000000e+00 3.80637724e+01] [-2.19540138e-04 9.99999976e-01 0.00000000e+00 -4.65009054e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65279142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.835336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:38.09, Y:-0.47, Z:-0.05 [[ 9.99983657e-01 5.71721965e-03 0.00000000e+00 3.80941050e+01] [-5.71721965e-03 9.99983657e-01 0.00000000e+00 -4.66334014e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.92610372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.865336195 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:38.12, Y:-0.47, Z:-0.05 [[ 9.99970035e-01 7.74142530e-03 0.00000000e+00 3.81215439e+01] [-7.74142530e-03 9.99970035e-01 0.00000000e+00 -4.66428069e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18360757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.895336195 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:38.15, Y:-0.46, Z:-0.05 [[ 9.99939081e-01 1.10378673e-02 0.00000000e+00 3.81496644e+01] [-1.10378673e-02 9.99939081e-01 0.00000000e+00 -4.61224960e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.21742499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.925336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.18, Y:-0.46, Z:-0.05 [[ 9.99921320e-01 1.25441100e-02 0.00000000e+00 3.81779941e+01] [-1.25441100e-02 9.99921320e-01 0.00000000e+00 -4.58398944e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90951843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.955336194999994 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:38.21, Y:-0.45, Z:-0.04 [[ 9.99897378e-01 1.43259928e-02 0.00000000e+00 3.82067926e+01] [-1.43259928e-02 9.99897378e-01 0.00000000e+00 -4.52258586e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40964735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.985336194999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:38.23, Y:-0.45, Z:-0.04 [[ 9.99898108e-01 1.42749395e-02 0.00000000e+00 3.82347274e+01] [-1.42749395e-02 9.99898108e-01 0.00000000e+00 -4.49965705e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35898340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.015336194999996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:38.26, Y:-0.45, Z:-0.05 [[ 9.99921951e-01 1.24936964e-02 0.00000000e+00 3.82632823e+01] [-1.24936964e-02 9.99921951e-01 0.00000000e+00 -4.49363384e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52384279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.045336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:38.29, Y:-0.45, Z:-0.04 [[ 9.99933955e-01 1.14928837e-02 0.00000000e+00 3.82924310e+01] [-1.14928837e-02 9.99933955e-01 0.00000000e+00 -4.48723139e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46577252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.075336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:38.32, Y:-0.45, Z:-0.05 [[ 9.99959546e-01 8.99479512e-03 0.00000000e+00 3.83205280e+01] [-8.99479512e-03 9.99959546e-01 0.00000000e+00 -4.47364383e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62190757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.105336195 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:38.35, Y:-0.45, Z:-0.04 [[ 9.99978854e-01 6.50322274e-03 0.00000000e+00 3.83492384e+01] [-6.50322274e-03 9.99978854e-01 0.00000000e+00 -4.47276252e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.48932930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.135336194999994 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:38.38, Y:-0.44, Z:-0.04 [[ 9.99999351e-01 1.13967453e-03 0.00000000e+00 3.83779910e+01] [-1.13967453e-03 9.99999351e-01 0.00000000e+00 -4.44766817e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04415235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.165336194999995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:38.41, Y:-0.44, Z:-0.04 [[ 9.99999224e-01 -1.24564541e-03 0.00000000e+00 3.84079996e+01] [ 1.24564541e-03 9.99999224e-01 0.00000000e+00 -4.44212221e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05512421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.195336194999996 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:38.44, Y:-0.45, Z:-0.04 [[ 9.99990570e-01 -4.34270305e-03 0.00000000e+00 3.84394078e+01] [ 4.34270305e-03 9.99990570e-01 0.00000000e+00 -4.45290969e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38860830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.225336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:38.47, Y:-0.45, Z:-0.05 [[ 9.99986040e-01 -5.28388492e-03 0.00000000e+00 3.84710200e+01] [ 5.28388492e-03 9.99986040e-01 0.00000000e+00 -4.46971220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61929671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.255336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:38.50, Y:-0.45, Z:-0.05 [[ 9.99963917e-01 -8.49498184e-03 0.00000000e+00 3.85027180e+01] [ 8.49498184e-03 9.99963917e-01 0.00000000e+00 -4.45118933e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65161160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.285336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:38.54, Y:-0.44, Z:-0.04 [[ 9.99951464e-01 -9.85237809e-03 0.00000000e+00 3.85350174e+01] [ 9.85237809e-03 9.99951464e-01 0.00000000e+00 -4.43855469e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28981266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:38.57, Y:-0.45, Z:-0.05 [[ 9.99940206e-01 -1.09354538e-02 0.00000000e+00 3.85669330e+01] [ 1.09354538e-02 9.99940206e-01 0.00000000e+00 -4.46543813e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66639549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.345336194999994 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:38.60, Y:-0.45, Z:-0.05 [[ 9.99937285e-01 -1.11993870e-02 0.00000000e+00 3.85981717e+01] [ 1.11993870e-02 9.99937285e-01 0.00000000e+00 -4.49796706e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99000403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.375336194999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:38.63, Y:-0.45, Z:-0.05 [[ 9.99918989e-01 -1.27284989e-02 0.00000000e+00 3.86299170e+01] [ 1.27284989e-02 9.99918989e-01 0.00000000e+00 -4.52246346e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.55016735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.405336195 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:38.66, Y:-0.45, Z:-0.04 [[ 9.99913073e-01 -1.31850969e-02 0.00000000e+00 3.86616825e+01] [ 1.31850969e-02 9.99913073e-01 0.00000000e+00 -4.52181368e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22167766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.435336195 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:38.69, Y:-0.45, Z:-0.04 [[ 9.99906428e-01 -1.36797030e-02 0.00000000e+00 3.86930885e+01] [ 1.36797030e-02 9.99906428e-01 0.00000000e+00 -4.51991287e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07699512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.465336195 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:38.72, Y:-0.45, Z:-0.04 [[ 9.99917025e-01 -1.28819099e-02 0.00000000e+00 3.87240950e+01] [ 1.28819099e-02 9.99917025e-01 0.00000000e+00 -4.54716901e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37667556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.495336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:38.76, Y:-0.46, Z:-0.04 [[ 9.99949383e-01 -1.00614080e-02 0.00000000e+00 3.87559899e+01] [ 1.00614080e-02 9.99949383e-01 0.00000000e+00 -4.58340322e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40624394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.525336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:38.79, Y:-0.46, Z:-0.05 [[ 9.99969566e-01 -7.80175630e-03 0.00000000e+00 3.87870235e+01] [ 7.80175630e-03 9.99969566e-01 0.00000000e+00 -4.60638692e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.93093807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.555336194999995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:38.82, Y:-0.46, Z:-0.05 [[ 9.99985950e-01 -5.30090839e-03 0.00000000e+00 3.88192260e+01] [ 5.30090839e-03 9.99985950e-01 0.00000000e+00 -4.62736191e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65641090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.585336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:38.85, Y:-0.46, Z:-0.04 [[ 9.99999746e-01 7.12425667e-04 0.00000000e+00 3.88506733e+01] [-7.12425667e-04 9.99999746e-01 0.00000000e+00 -4.61219711e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38094775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.615336195 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:38.88, Y:-0.46, Z:-0.04 [[ 9.99993006e-01 3.74006647e-03 0.00000000e+00 3.88800917e+01] [-3.74006647e-03 9.99993006e-01 0.00000000e+00 -4.59673145e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08645961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.645336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:38.91, Y:-0.46, Z:-0.05 [[ 9.99955380e-01 9.44663333e-03 0.00000000e+00 3.89076708e+01] [-9.44663333e-03 9.99955380e-01 0.00000000e+00 -4.60830359e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59371302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.675336195 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:38.94, Y:-0.46, Z:-0.05 [[ 9.99938993e-01 1.10458002e-02 0.00000000e+00 3.89362759e+01] [-1.10458002e-02 9.99938993e-01 0.00000000e+00 -4.62541686e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70387485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.705336194999994 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:38.96, Y:-0.46, Z:-0.05 [[ 9.99931484e-01 1.17058623e-02 0.00000000e+00 3.89639993e+01] [-1.17058623e-02 9.99931484e-01 0.00000000e+00 -4.63443596e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84250714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.735336194999995 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:38.99, Y:-0.47, Z:-0.05 [[ 9.99943219e-01 1.06564075e-02 0.00000000e+00 3.89923729e+01] [-1.06564075e-02 9.99943219e-01 0.00000000e+00 -4.66451972e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51175814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.765336194999996 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:39.02, Y:-0.47, Z:-0.04 [[ 9.99970119e-01 7.73052133e-03 0.00000000e+00 3.90198238e+01] [-7.73052133e-03 9.99970119e-01 0.00000000e+00 -4.70553944e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38206546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.795336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:39.05, Y:-0.47, Z:-0.04 [[ 9.99980738e-01 6.20678635e-03 0.00000000e+00 3.90478055e+01] [-6.20678635e-03 9.99980738e-01 0.00000000e+00 -4.70434594e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28599356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.825336195 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:39.08, Y:-0.47, Z:-0.04 [[ 9.99995254e-01 3.08094085e-03 0.00000000e+00 3.90764832e+01] [-3.08094085e-03 9.99995254e-01 0.00000000e+00 -4.71956932e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04089435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.855336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:39.11, Y:-0.47, Z:-0.04 [[ 9.99997345e-01 2.30442623e-03 0.00000000e+00 3.91053651e+01] [-2.30442623e-03 9.99997345e-01 0.00000000e+00 -4.74545484e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86532478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.885336194999994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:39.13, Y:-0.48, Z:-0.04 [[ 9.99996041e-01 2.81372547e-03 0.00000000e+00 3.91337195e+01] [-2.81372547e-03 9.99996041e-01 0.00000000e+00 -4.80497708e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08952974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.915336194999995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:39.16, Y:-0.48, Z:-0.04 [[ 9.99994330e-01 3.36742068e-03 0.00000000e+00 3.91623369e+01] [-3.36742068e-03 9.99994330e-01 0.00000000e+00 -4.83851927e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17629792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.945336194999996 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:39.19, Y:-0.49, Z:-0.04 [[ 9.99992205e-01 3.94846386e-03 0.00000000e+00 3.91902675e+01] [-3.94846386e-03 9.99992205e-01 0.00000000e+00 -4.85068349e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42499916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.975336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:39.22, Y:-0.48, Z:-0.04 [[ 9.99979559e-01 6.39393702e-03 0.00000000e+00 3.92177778e+01] [-6.39393702e-03 9.99979559e-01 0.00000000e+00 -4.84478627e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17657022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.005336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:39.25, Y:-0.49, Z:-0.05 [[ 9.99972460e-01 7.42151578e-03 0.00000000e+00 3.92463665e+01] [-7.42151578e-03 9.99972460e-01 0.00000000e+00 -4.88566161e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69508774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.035336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:39.27, Y:-0.49, Z:-0.05 [[ 9.99972968e-01 7.35281470e-03 0.00000000e+00 3.92747986e+01] [-7.35281470e-03 9.99972968e-01 0.00000000e+00 -4.88944404e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69508774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06533619499999 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:39.30, Y:-0.49, Z:-0.05 [[ 9.99973916e-01 7.22271640e-03 0.00000000e+00 3.93035527e+01] [-7.22271640e-03 9.99973916e-01 0.00000000e+00 -4.90272310e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.00362206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.095336194999994 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:39.33, Y:-0.49, Z:-0.05 [[ 9.99978747e-01 6.51963942e-03 0.00000000e+00 3.93310160e+01] [-6.51963942e-03 9.99978747e-01 0.00000000e+00 -4.93010792e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30554994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.125336194999996 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:39.36, Y:-0.50, Z:-0.05 [[ 9.99986487e-01 5.19862552e-03 0.00000000e+00 3.93595929e+01] [-5.19862552e-03 9.99986487e-01 0.00000000e+00 -4.95408936e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.01732429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.155336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.39, Y:-0.50, Z:-0.05 [[ 9.99999833e-01 5.78466881e-04 0.00000000e+00 3.93887119e+01] [-5.78466881e-04 9.99999833e-01 0.00000000e+00 -4.96706114e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75256362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.185336195 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:39.42, Y:-0.50, Z:-0.05 [[ 9.99995226e-01 -3.09003601e-03 0.00000000e+00 3.94194927e+01] [ 3.09003601e-03 9.99995226e-01 0.00000000e+00 -4.96013505e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63735607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.215336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:39.45, Y:-0.50, Z:-0.05 [[ 9.99981783e-01 -6.03608872e-03 0.00000000e+00 3.94520000e+01] [ 6.03608872e-03 9.99981783e-01 0.00000000e+00 -4.97107745e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66580671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.245336195 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:39.49, Y:-0.50, Z:-0.05 [[ 9.99942389e-01 -1.07339884e-02 0.00000000e+00 3.94852604e+01] [ 1.07339884e-02 9.99942389e-01 0.00000000e+00 -5.02741759e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74775816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.275336194999994 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:39.52, Y:-0.51, Z:-0.05 [[ 9.99933365e-01 -1.15440864e-02 0.00000000e+00 3.95184486e+01] [ 1.15440864e-02 9.99933365e-01 0.00000000e+00 -5.06145192e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64283218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.305336194999995 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:39.55, Y:-0.51, Z:-0.05 [[ 9.99933728e-01 -1.15125926e-02 0.00000000e+00 3.95494303e+01] [ 1.15125926e-02 9.99933728e-01 0.00000000e+00 -5.09379781e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68088507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.335336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:39.58, Y:-0.51, Z:-0.05 [[ 9.99950626e-01 -9.93708755e-03 0.00000000e+00 3.95815147e+01] [ 9.93708755e-03 9.99950626e-01 0.00000000e+00 -5.10996100e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83518372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.365336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:39.61, Y:-0.52, Z:-0.05 [[ 9.99975256e-01 -7.03474388e-03 0.00000000e+00 3.96131322e+01] [ 7.03474388e-03 9.99975256e-01 0.00000000e+00 -5.16441314e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.39882052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.395336195 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:39.64, Y:-0.52, Z:-0.05 [[ 9.99989893e-01 -4.49595662e-03 0.00000000e+00 3.96449241e+01] [ 4.49595662e-03 9.99989893e-01 0.00000000e+00 -5.19721603e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42367422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.425336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:39.68, Y:-0.52, Z:-0.05 [[ 9.99996665e-01 -2.58262281e-03 0.00000000e+00 3.96773802e+01] [ 2.58262281e-03 9.99996665e-01 0.00000000e+00 -5.20326979e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.35057614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.455336194999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:39.71, Y:-0.52, Z:-0.05 [[ 9.99999407e-01 -1.08938090e-03 0.00000000e+00 3.97089095e+01] [ 1.08938090e-03 9.99999407e-01 0.00000000e+00 -5.19718364e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26396619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.485336194999995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:39.74, Y:-0.52, Z:-0.05 [[ 9.99998977e-01 1.43035639e-03 0.00000000e+00 3.97404284e+01] [-1.43035639e-03 9.99998977e-01 0.00000000e+00 -5.20537939e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83842240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.515336194999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:39.77, Y:-0.52, Z:-0.05 [[ 9.99997040e-01 2.43299300e-03 0.00000000e+00 3.97703505e+01] [-2.43299300e-03 9.99997040e-01 0.00000000e+00 -5.22912252e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69597015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.545336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:39.80, Y:-0.52, Z:-0.05 [[ 9.99983928e-01 5.66957094e-03 0.00000000e+00 3.97989553e+01] [-5.66957094e-03 9.99983928e-01 0.00000000e+00 -5.24064662e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83977754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.83, Y:-0.52, Z:-0.05 [[ 9.99975560e-01 6.99133491e-03 0.00000000e+00 3.98275814e+01] [-6.99133491e-03 9.99975560e-01 0.00000000e+00 -5.23870395e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75820342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.605336195 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:39.86, Y:-0.53, Z:-0.05 [[ 9.99963150e-01 8.58484432e-03 0.00000000e+00 3.98554804e+01] [-8.58484432e-03 9.99963150e-01 0.00000000e+00 -5.25299656e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47483154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.635336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:39.88, Y:-0.53, Z:-0.05 [[ 9.99949084e-01 1.00910563e-02 0.00000000e+00 3.98839282e+01] [-1.00910563e-02 9.99949084e-01 0.00000000e+00 -5.27273785e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47023609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.665336194999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:39.91, Y:-0.53, Z:-0.05 [[ 9.99921029e-01 1.25672763e-02 0.00000000e+00 3.99129621e+01] [-1.25672763e-02 9.99921029e-01 0.00000000e+00 -5.28339166e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26733457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.695336194999996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.94, Y:-0.53, Z:-0.05 [[ 9.99909190e-01 1.34763191e-02 0.00000000e+00 3.99397647e+01] [-1.34763191e-02 9.99909190e-01 0.00000000e+00 -5.26964175e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42001904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.725336195 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:39.97, Y:-0.53, Z:-0.05 [[ 9.99897563e-01 1.43130599e-02 0.00000000e+00 3.99685002e+01] [-1.43130599e-02 9.99897563e-01 0.00000000e+00 -5.25546513e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.06147436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.755336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:40.00, Y:-0.53, Z:-0.05 [[ 9.99883040e-01 1.52939998e-02 0.00000000e+00 3.99974562e+01] [-1.52939998e-02 9.99883040e-01 0.00000000e+00 -5.28431395e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11662976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.785336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:40.02, Y:-0.53, Z:-0.05 [[ 9.99885348e-01 1.51423793e-02 0.00000000e+00 4.00246243e+01] [-1.51423793e-02 9.99885348e-01 0.00000000e+00 -5.31318758e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.02513416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.05, Y:-0.53, Z:-0.05 [[ 9.99904933e-01 1.37885925e-02 0.00000000e+00 4.00514766e+01] [-1.37885925e-02 9.99904933e-01 0.00000000e+00 -5.31919530e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11962485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.845336194999994 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:40.08, Y:-0.53, Z:-0.05 [[ 9.99926071e-01 1.21594644e-02 0.00000000e+00 4.00790050e+01] [-1.21594644e-02 9.99926071e-01 0.00000000e+00 -5.32575103e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72063544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.875336194999996 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:40.11, Y:-0.54, Z:-0.05 [[ 9.99944500e-01 1.05355240e-02 0.00000000e+00 4.01066685e+01] [-1.05355240e-02 9.99944500e-01 0.00000000e+00 -5.35102857e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.94458571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.905336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:40.14, Y:-0.54, Z:-0.05 [[ 9.99945691e-01 1.04218608e-02 0.00000000e+00 4.01353690e+01] [-1.04218608e-02 9.99945691e-01 0.00000000e+00 -5.39492394e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79503142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.935336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:40.16, Y:-0.54, Z:-0.05 [[ 9.99946282e-01 1.03649607e-02 0.00000000e+00 4.01641243e+01] [-1.03649607e-02 9.99946282e-01 0.00000000e+00 -5.40552496e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.87108295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.965336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.19, Y:-0.54, Z:-0.05 [[ 9.99939053e-01 1.10403747e-02 0.00000000e+00 4.01927966e+01] [-1.10403747e-02 9.99939053e-01 0.00000000e+00 -5.39197904e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.92760343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.995336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:40.22, Y:-0.54, Z:-0.05 [[ 9.99939559e-01 1.09944678e-02 0.00000000e+00 4.02203192e+01] [-1.09944678e-02 9.99939559e-01 0.00000000e+00 -5.40989268e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.45775523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.025336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.25, Y:-0.55, Z:-0.06 [[ 9.99938000e-01 1.11353406e-02 0.00000000e+00 4.02485204e+01] [-1.11353406e-02 9.99938000e-01 0.00000000e+00 -5.45380713e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.98209935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.055336194999995 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:40.28, Y:-0.55, Z:-0.06 [[ 9.99928975e-01 1.19182417e-02 0.00000000e+00 4.02776392e+01] [-1.19182417e-02 9.99928975e-01 0.00000000e+00 -5.48238641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.66284748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.085336195 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:40.31, Y:-0.54, Z:-0.05 [[ 9.99934865e-01 1.14134407e-02 0.00000000e+00 4.03064447e+01] [-1.14134407e-02 9.99934865e-01 0.00000000e+00 -5.44806962e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29731264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.115336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:40.33, Y:-0.55, Z:-0.05 [[ 9.99940417e-01 1.09161858e-02 0.00000000e+00 4.03348902e+01] [-1.09161858e-02 9.99940417e-01 0.00000000e+00 -5.45703934e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08544002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.145336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:40.36, Y:-0.55, Z:-0.05 [[ 9.99956427e-01 9.33508747e-03 0.00000000e+00 4.03629420e+01] [-9.33508747e-03 9.99956427e-01 0.00000000e+00 -5.45800573e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.27389482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.175336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:40.39, Y:-0.55, Z:-0.05 [[ 9.99966166e-01 8.22599389e-03 0.00000000e+00 4.03918082e+01] [-8.22599389e-03 9.99966166e-01 0.00000000e+00 -5.46654574e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10594751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.205336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:40.42, Y:-0.55, Z:-0.05 [[ 9.99977937e-01 6.64277365e-03 0.00000000e+00 4.04204709e+01] [-6.64277365e-03 9.99977937e-01 0.00000000e+00 -5.49529504e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66981191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.235336194999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:40.45, Y:-0.56, Z:-0.05 [[ 9.99996151e-01 2.77441683e-03 0.00000000e+00 4.04488040e+01] [-2.77441683e-03 9.99996151e-01 0.00000000e+00 -5.55832464e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81908865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.265336194999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.48, Y:-0.56, Z:-0.05 [[ 9.99999197e-01 -1.26736515e-03 0.00000000e+00 4.04762814e+01] [ 1.26736515e-03 9.99999197e-01 0.00000000e+00 -5.56721325e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67834599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.295336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:40.51, Y:-0.56, Z:-0.04 [[ 9.99996709e-01 -2.56571742e-03 0.00000000e+00 4.05066577e+01] [ 2.56571742e-03 9.99996709e-01 0.00000000e+00 -5.55885340e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46145462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.325336195 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:40.54, Y:-0.56, Z:-0.05 [[ 9.99995638e-01 -2.95358768e-03 0.00000000e+00 4.05374803e+01] [ 2.95358768e-03 9.99995638e-01 0.00000000e+00 -5.57744584e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63043151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.57, Y:-0.56, Z:-0.05 [[ 9.99997644e-01 -2.17088985e-03 0.00000000e+00 4.05698633e+01] [ 2.17088985e-03 9.99997644e-01 0.00000000e+00 -5.62187473e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88218339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.385336194999994 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:40.60, Y:-0.57, Z:-0.05 [[ 9.99999465e-01 -1.03398007e-03 0.00000000e+00 4.06006248e+01] [ 1.03398007e-03 9.99999465e-01 0.00000000e+00 -5.65871563e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04870676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.415336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.63, Y:-0.57, Z:-0.05 [[ 9.99996907e-01 2.48724937e-03 0.00000000e+00 4.06317860e+01] [-2.48724937e-03 9.99996907e-01 0.00000000e+00 -5.68395041e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.73499601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.445336194999996 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:40.66, Y:-0.57, Z:-0.05 [[ 9.99991879e-01 4.03023685e-03 0.00000000e+00 4.06603289e+01] [-4.03023685e-03 9.99991879e-01 0.00000000e+00 -5.67809888e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98620251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.475336195 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:40.69, Y:-0.57, Z:-0.05 [[ 9.99980053e-01 6.31616219e-03 0.00000000e+00 4.06877888e+01] [-6.31616219e-03 9.99980053e-01 0.00000000e+00 -5.66967444e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99646049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.505336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.72, Y:-0.57, Z:-0.05 [[ 9.99973109e-01 7.33356095e-03 0.00000000e+00 4.07163474e+01] [-7.33356095e-03 9.99973109e-01 0.00000000e+00 -5.70218714e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.32088296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.74, Y:-0.57, Z:-0.06 [[ 9.99973312e-01 7.30585933e-03 0.00000000e+00 4.07445566e+01] [-7.30585933e-03 9.99973312e-01 0.00000000e+00 -5.71930834e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56780786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56533619499999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:40.77, Y:-0.57, Z:-0.05 [[ 9.99974178e-01 7.18633560e-03 0.00000000e+00 4.07728522e+01] [-7.18633560e-03 9.99974178e-01 0.00000000e+00 -5.72371332e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72513821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.595336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.80, Y:-0.57, Z:-0.05 [[ 9.99967063e-01 8.11625396e-03 0.00000000e+00 4.08008005e+01] [-8.11625396e-03 9.99967063e-01 0.00000000e+00 -5.74957135e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98943814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.625336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.83, Y:-0.58, Z:-0.05 [[ 9.99965595e-01 8.29515436e-03 0.00000000e+00 4.08292094e+01] [-8.29515436e-03 9.99965595e-01 0.00000000e+00 -5.78223529e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04326760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.655336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:40.86, Y:-0.58, Z:-0.05 [[ 9.99967585e-01 8.05169087e-03 0.00000000e+00 4.08565884e+01] [-8.05169087e-03 9.99967585e-01 0.00000000e+00 -5.80314305e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91067046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.685336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.88, Y:-0.58, Z:-0.05 [[ 9.99972963e-01 7.35339692e-03 0.00000000e+00 4.08848467e+01] [-7.35339692e-03 9.99972963e-01 0.00000000e+00 -5.83183028e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67151105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.715336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:40.91, Y:-0.59, Z:-0.05 [[ 9.99974682e-01 7.11585522e-03 0.00000000e+00 4.09133952e+01] [-7.11585522e-03 9.99974682e-01 0.00000000e+00 -5.85147750e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60815241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.94, Y:-0.59, Z:-0.05 [[ 9.99975025e-01 7.06754708e-03 0.00000000e+00 4.09420408e+01] [-7.06754708e-03 9.99975025e-01 0.00000000e+00 -5.87832658e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83172393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.775336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:40.97, Y:-0.59, Z:-0.05 [[ 9.99969303e-01 7.83530903e-03 0.00000000e+00 4.09704744e+01] [-7.83530903e-03 9.99969303e-01 0.00000000e+00 -5.90598445e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82325435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.805336194999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:41.00, Y:-0.59, Z:-0.05 [[ 9.99963428e-01 8.55237687e-03 0.00000000e+00 4.09982139e+01] [-8.55237687e-03 9.99963428e-01 0.00000000e+00 -5.90005304e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.05990544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.03, Y:-0.59, Z:-0.05 [[ 9.99941618e-01 1.08055364e-02 0.00000000e+00 4.10266925e+01] [-1.08055364e-02 9.99941618e-01 0.00000000e+00 -5.88010985e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.95445134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.865336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:41.06, Y:-0.59, Z:-0.05 [[ 9.99924377e-01 1.22979849e-02 0.00000000e+00 4.10556115e+01] [-1.22979849e-02 9.99924377e-01 0.00000000e+00 -5.88967568e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10575977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.895336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:41.08, Y:-0.59, Z:-0.05 [[ 9.99879456e-01 1.55265469e-02 0.00000000e+00 4.10838617e+01] [-1.55265469e-02 9.99879456e-01 0.00000000e+00 -5.93189218e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31255260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.925336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:41.11, Y:-0.59, Z:-0.05 [[ 9.99880513e-01 1.54583252e-02 0.00000000e+00 4.11122981e+01] [-1.54583252e-02 9.99880513e-01 0.00000000e+00 -5.93516376e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31255260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.955336194999994 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:41.14, Y:-0.59, Z:-0.05 [[ 9.99868268e-01 1.62310467e-02 0.00000000e+00 4.11411386e+01] [-1.62310467e-02 9.99868268e-01 0.00000000e+00 -5.93875038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22595811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.985336194999995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:41.17, Y:-0.59, Z:-0.04 [[ 9.99859154e-01 1.67831029e-02 0.00000000e+00 4.11687595e+01] [-1.67831029e-02 9.99859154e-01 0.00000000e+00 -5.86030453e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42323676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.015336194999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:41.20, Y:-0.58, Z:-0.04 [[ 9.99869551e-01 1.61518306e-02 0.00000000e+00 4.11961845e+01] [-1.61518306e-02 9.99869551e-01 0.00000000e+00 -5.82408299e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39864650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.045336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.22, Y:-0.58, Z:-0.05 [[ 9.99896253e-01 1.44042801e-02 0.00000000e+00 4.12245806e+01] [-1.44042801e-02 9.99896253e-01 0.00000000e+00 -5.83150971e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72532784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.075336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.25, Y:-0.59, Z:-0.05 [[ 9.99910863e-01 1.33516049e-02 0.00000000e+00 4.12529425e+01] [-1.33516049e-02 9.99910863e-01 0.00000000e+00 -5.85358565e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11895789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.28, Y:-0.59, Z:-0.06 [[ 9.99946364e-01 1.03570716e-02 0.00000000e+00 4.12824631e+01] [-1.03570716e-02 9.99946364e-01 0.00000000e+00 -5.86373023e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.92213119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.135336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.31, Y:-0.58, Z:-0.06 [[ 9.99960702e-01 8.86537747e-03 0.00000000e+00 4.13105946e+01] [-8.86537747e-03 9.99960702e-01 0.00000000e+00 -5.84347330e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01405203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.165336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.34, Y:-0.58, Z:-0.05 [[ 9.99980307e-01 6.27582361e-03 0.00000000e+00 4.13395652e+01] [-6.27582361e-03 9.99980307e-01 0.00000000e+00 -5.78326460e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43020138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.195336194999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.37, Y:-0.58, Z:-0.05 [[ 9.99987285e-01 5.04271085e-03 0.00000000e+00 4.13686895e+01] [-5.04271085e-03 9.99987285e-01 0.00000000e+00 -5.76795196e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67106685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.225336195 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:41.40, Y:-0.58, Z:-0.06 [[ 9.99994427e-01 3.33866129e-03 0.00000000e+00 4.13968300e+01] [-3.33866129e-03 9.99994427e-01 0.00000000e+00 -5.81924154e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67230328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.43, Y:-0.58, Z:-0.05 [[ 9.99996336e-01 2.70711741e-03 0.00000000e+00 4.14256989e+01] [-2.70711741e-03 9.99996336e-01 0.00000000e+00 -5.82851032e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.48143518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.285336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.45, Y:-0.57, Z:-0.05 [[ 9.99996922e-01 2.48104915e-03 0.00000000e+00 4.14543339e+01] [-2.48104915e-03 9.99996922e-01 0.00000000e+00 -5.74613939e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72361170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31533619499999 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:41.48, Y:-0.57, Z:-0.04 [[ 9.99994509e-01 3.31376157e-03 0.00000000e+00 4.14833079e+01] [-3.31376157e-03 9.99994509e-01 0.00000000e+00 -5.71923423e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44600617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.345336194999994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:41.51, Y:-0.57, Z:-0.05 [[ 9.99988414e-01 4.81375671e-03 0.00000000e+00 4.15117342e+01] [-4.81375671e-03 9.99988414e-01 0.00000000e+00 -5.69118928e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08813799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.375336194999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.54, Y:-0.57, Z:-0.06 [[ 9.99985419e-01 5.40012569e-03 0.00000000e+00 4.15393145e+01] [-5.40012569e-03 9.99985419e-01 0.00000000e+00 -5.68688389e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54182818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.405336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:41.57, Y:-0.57, Z:-0.06 [[ 9.99982304e-01 5.94910139e-03 0.00000000e+00 4.15684739e+01] [-5.94910139e-03 9.99982304e-01 0.00000000e+00 -5.70543715e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99105308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.435336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.60, Y:-0.57, Z:-0.06 [[ 9.99984125e-01 5.63464886e-03 0.00000000e+00 4.15976562e+01] [-5.63464886e-03 9.99984125e-01 0.00000000e+00 -5.69385876e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.57500758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.465336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.63, Y:-0.56, Z:-0.05 [[ 9.99988659e-01 4.76247058e-03 0.00000000e+00 4.16263262e+01] [-4.76247058e-03 9.99988659e-01 0.00000000e+00 -5.60938395e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64837686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.495336195 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:41.65, Y:-0.55, Z:-0.04 [[ 9.99991314e-01 4.16799542e-03 0.00000000e+00 4.16542911e+01] [-4.16799542e-03 9.99991314e-01 0.00000000e+00 -5.54768408e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28115239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.525336194999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.68, Y:-0.55, Z:-0.04 [[ 9.99988959e-01 4.69922735e-03 0.00000000e+00 4.16826414e+01] [-4.69922735e-03 9.99988959e-01 0.00000000e+00 -5.49711621e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80900828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.555336194999995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.71, Y:-0.55, Z:-0.04 [[ 9.99986978e-01 5.10324143e-03 0.00000000e+00 4.17109471e+01] [-5.10324143e-03 9.99986978e-01 0.00000000e+00 -5.50378427e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27057134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.585336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.74, Y:-0.55, Z:-0.05 [[ 9.99989563e-01 4.56883111e-03 0.00000000e+00 4.17397516e+01] [-4.56883111e-03 9.99989563e-01 0.00000000e+00 -5.51120893e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81320647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.615336195 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:41.77, Y:-0.55, Z:-0.05 [[ 9.99993729e-01 3.54150760e-03 0.00000000e+00 4.17671753e+01] [-3.54150760e-03 9.99993729e-01 0.00000000e+00 -5.48069310e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.06536609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.645336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:41.80, Y:-0.54, Z:-0.05 [[ 9.99999660e-01 8.24671313e-04 0.00000000e+00 4.17957651e+01] [-8.24671313e-04 9.99999660e-01 0.00000000e+00 -5.37715342e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67360416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.675336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:41.83, Y:-0.53, Z:-0.04 [[ 9.99999806e-01 -6.23064712e-04 0.00000000e+00 4.18257514e+01] [ 6.23064712e-04 9.99999806e-01 0.00000000e+00 -5.34150951e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24782535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.705336194999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.86, Y:-0.53, Z:-0.05 [[ 9.99996297e-01 -2.72140849e-03 0.00000000e+00 4.18561552e+01] [ 2.72140849e-03 9.99996297e-01 0.00000000e+00 -5.34872018e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80923240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.735336194999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.89, Y:-0.54, Z:-0.05 [[ 9.99992974e-01 -3.74853032e-03 0.00000000e+00 4.18872191e+01] [ 3.74853032e-03 9.99992974e-01 0.00000000e+00 -5.38808121e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36430527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.765336194999996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:41.92, Y:-0.54, Z:-0.05 [[ 9.99973292e-01 -7.30856257e-03 0.00000000e+00 4.19178702e+01] [ 7.30856257e-03 9.99973292e-01 0.00000000e+00 -5.41030895e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40789004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.795336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:41.95, Y:-0.54, Z:-0.04 [[ 9.99953697e-01 -9.62307052e-03 0.00000000e+00 4.19514090e+01] [ 9.62307052e-03 9.99953697e-01 0.00000000e+00 -5.35883465e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27222663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.98, Y:-0.54, Z:-0.04 [[ 9.99945218e-01 -1.04671302e-02 0.00000000e+00 4.19804903e+01] [ 1.04671302e-02 9.99945218e-01 0.00000000e+00 -5.35689244e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.23553635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.855336195 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:42.01, Y:-0.54, Z:-0.04 [[ 9.99919053e-01 -1.27235030e-02 0.00000000e+00 4.20141892e+01] [ 1.27235030e-02 9.99919053e-01 0.00000000e+00 -5.36733571e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17293674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.885336194999994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:42.05, Y:-0.54, Z:-0.04 [[ 9.99909760e-01 -1.34340040e-02 0.00000000e+00 4.20458885e+01] [ 1.34340040e-02 9.99909760e-01 0.00000000e+00 -5.41854308e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.43486778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.915336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.08, Y:-0.55, Z:-0.05 [[ 9.99915501e-01 -1.29996613e-02 0.00000000e+00 4.20784139e+01] [ 1.29996613e-02 9.99915501e-01 0.00000000e+00 -5.46515906e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70854512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.945336194999996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:42.11, Y:-0.55, Z:-0.05 [[ 9.99946929e-01 -1.03023940e-02 0.00000000e+00 4.21084321e+01] [ 1.03023940e-02 9.99946929e-01 0.00000000e+00 -5.54645161e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91176792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.975336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:42.14, Y:-0.55, Z:-0.04 [[ 9.99972627e-01 -7.39902696e-03 0.00000000e+00 4.21415943e+01] [ 7.39902696e-03 9.99972627e-01 0.00000000e+00 -5.54033571e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89757400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.005336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:42.17, Y:-0.55, Z:-0.04 [[ 9.99987189e-01 -5.06175492e-03 0.00000000e+00 4.21725825e+01] [ 5.06175492e-03 9.99987189e-01 0.00000000e+00 -5.51452513e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67311376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.035336195 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:42.20, Y:-0.55, Z:-0.04 [[ 9.99996831e-01 -2.51761869e-03 0.00000000e+00 4.22039614e+01] [ 2.51761869e-03 9.99996831e-01 0.00000000e+00 -5.51092090e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74988508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06533619499999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:42.24, Y:-0.56, Z:-0.05 [[ 9.99991281e-01 4.17587837e-03 0.00000000e+00 4.22352613e+01] [-4.17587837e-03 9.99991281e-01 0.00000000e+00 -5.56970157e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51389564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.095336194999994 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:42.26, Y:-0.56, Z:-0.05 [[ 9.99965193e-01 8.34342137e-03 0.00000000e+00 4.22636602e+01] [-8.34342137e-03 9.99965193e-01 0.00000000e+00 -5.59131296e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76802932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.125336194999996 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:42.29, Y:-0.56, Z:-0.05 [[ 9.99882201e-01 1.53487664e-02 0.00000000e+00 4.22911111e+01] [-1.53487664e-02 9.99882201e-01 0.00000000e+00 -5.60807605e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25052053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.155336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:42.32, Y:-0.56, Z:-0.05 [[ 9.99849394e-01 1.73548291e-02 0.00000000e+00 4.23198299e+01] [-1.73548291e-02 9.99849394e-01 0.00000000e+00 -5.60393377e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15901642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.185336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:42.35, Y:-0.56, Z:-0.05 [[ 9.99829019e-01 1.84914018e-02 0.00000000e+00 4.23488954e+01] [-1.84914018e-02 9.99829019e-01 0.00000000e+00 -5.57681541e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52606731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.215336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:42.38, Y:-0.55, Z:-0.04 [[ 9.99848629e-01 1.73987961e-02 0.00000000e+00 4.23775668e+01] [-1.73987961e-02 9.99848629e-01 0.00000000e+00 -5.54232251e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.95761515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24533619499999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:42.40, Y:-0.55, Z:-0.04 [[ 9.99876891e-01 1.56908246e-02 0.00000000e+00 4.24047335e+01] [-1.56908246e-02 9.99876891e-01 0.00000000e+00 -5.51204684e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.76551992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.275336194999994 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:42.43, Y:-0.55, Z:-0.04 [[ 9.99931952e-01 1.16658265e-02 0.00000000e+00 4.24324401e+01] [-1.16658265e-02 9.99931952e-01 0.00000000e+00 -5.54543123e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.14092354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.305336194999995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:42.46, Y:-0.56, Z:-0.05 [[ 9.99960248e-01 8.91636983e-03 0.00000000e+00 4.24605489e+01] [-8.91636983e-03 9.99960248e-01 0.00000000e+00 -5.58539101e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74388181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.335336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.49, Y:-0.56, Z:-0.05 [[ 9.99991424e-01 4.14144745e-03 0.00000000e+00 4.24892795e+01] [-4.14144745e-03 9.99991424e-01 0.00000000e+00 -5.64507238e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36514211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.365336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:42.52, Y:-0.57, Z:-0.06 [[ 9.99998810e-01 1.54287767e-03 0.00000000e+00 4.25181867e+01] [-1.54287767e-03 9.99998810e-01 0.00000000e+00 -5.66095480e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72404348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.395336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:42.55, Y:-0.57, Z:-0.05 [[ 9.99994369e-01 -3.35578799e-03 0.00000000e+00 4.25473083e+01] [ 3.35578799e-03 9.99994369e-01 0.00000000e+00 -5.65423335e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42935374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.425336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:42.58, Y:-0.56, Z:-0.05 [[ 9.99989614e-01 -4.55759007e-03 0.00000000e+00 4.25790721e+01] [ 4.55759007e-03 9.99989614e-01 0.00000000e+00 -5.62427787e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61156034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.455336194999994 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:42.61, Y:-0.56, Z:-0.04 [[ 9.99989403e-01 -4.60372639e-03 0.00000000e+00 4.26100457e+01] [ 4.60372639e-03 9.99989403e-01 0.00000000e+00 -5.58751421e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06646113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.485336194999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:42.64, Y:-0.56, Z:-0.04 [[ 9.99993326e-01 -3.65341108e-03 0.00000000e+00 4.26423685e+01] [ 3.65341108e-03 9.99993326e-01 0.00000000e+00 -5.62112188e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.11294046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.515336194999996 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:42.67, Y:-0.57, Z:-0.04 [[ 9.99997444e-01 -2.26084997e-03 0.00000000e+00 4.26739558e+01] [ 2.26084997e-03 9.99997444e-01 0.00000000e+00 -5.65910859e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.41766790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.545336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:42.70, Y:-0.57, Z:-0.05 [[ 9.99998179e-01 1.90850467e-03 0.00000000e+00 4.27039009e+01] [-1.90850467e-03 9.99998179e-01 0.00000000e+00 -5.66868858e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77612227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.575336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:42.73, Y:-0.57, Z:-0.05 [[ 9.99993777e-01 3.52797418e-03 0.00000000e+00 4.27338672e+01] [-3.52797418e-03 9.99993777e-01 0.00000000e+00 -5.65257008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61896024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.605336195 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:42.76, Y:-0.56, Z:-0.04 [[ 9.99983016e-01 5.82820508e-03 0.00000000e+00 4.27622746e+01] [-5.82820508e-03 9.99983016e-01 0.00000000e+00 -5.62614120e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05487033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.635336194999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.79, Y:-0.56, Z:-0.04 [[ 9.99978429e-01 6.56829265e-03 0.00000000e+00 4.27896214e+01] [-6.56829265e-03 9.99978429e-01 0.00000000e+00 -5.60250588e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.02546577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.665336194999995 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:42.82, Y:-0.56, Z:-0.04 [[ 9.99979540e-01 6.39680715e-03 0.00000000e+00 4.28193759e+01] [-6.39680715e-03 9.99979540e-01 0.00000000e+00 -5.55740488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47036934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.695336194999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.85, Y:-0.56, Z:-0.05 [[ 9.99983015e-01 5.82827958e-03 0.00000000e+00 4.28479891e+01] [-5.82827958e-03 9.99983015e-01 0.00000000e+00 -5.56331930e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67992556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.725336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.88, Y:-0.56, Z:-0.05 [[ 9.99990083e-01 4.45355106e-03 0.00000000e+00 4.28759293e+01] [-4.45355106e-03 9.99990083e-01 0.00000000e+00 -5.56044186e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.24099961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.755336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:42.91, Y:-0.56, Z:-0.05 [[ 9.99993733e-01 3.54026291e-03 0.00000000e+00 4.29051975e+01] [-3.54026291e-03 9.99993733e-01 0.00000000e+00 -5.55121351e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11742068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.785336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:42.93, Y:-0.56, Z:-0.05 [[ 9.99999467e-01 1.03247321e-03 0.00000000e+00 4.29338973e+01] [-1.03247321e-03 9.99999467e-01 0.00000000e+00 -5.55099334e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09400315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81533619499999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:42.96, Y:-0.55, Z:-0.05 [[ 9.99999978e-01 -2.10642051e-04 0.00000000e+00 4.29637258e+01] [ 2.10642051e-04 9.99999978e-01 0.00000000e+00 -5.54938261e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08168005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.845336194999994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:42.99, Y:-0.56, Z:-0.05 [[ 9.99999978e-01 -2.10642051e-04 0.00000000e+00 4.29947171e+01] [ 2.10642051e-04 9.99999978e-01 0.00000000e+00 -5.55379814e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08168005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.875336194999996 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:43.02, Y:-0.55, Z:-0.05 [[ 9.99997313e-01 -2.31816585e-03 0.00000000e+00 4.30248377e+01] [ 2.31816585e-03 9.99997313e-01 0.00000000e+00 -5.51156153e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70382279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.905336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:43.06, Y:-0.55, Z:-0.04 [[ 9.99994136e-01 -3.42468458e-03 0.00000000e+00 4.30562177e+01] [ 3.42468458e-03 9.99994136e-01 0.00000000e+00 -5.49868279e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39489590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.935336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:43.09, Y:-0.55, Z:-0.04 [[ 9.99982696e-01 -5.88275294e-03 0.00000000e+00 4.30880021e+01] [ 5.88275294e-03 9.99982696e-01 0.00000000e+00 -5.50421250e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94298354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.965336195 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:43.12, Y:-0.55, Z:-0.04 [[ 9.99974146e-01 -7.19080803e-03 0.00000000e+00 4.31188919e+01] [ 7.19080803e-03 9.99974146e-01 0.00000000e+00 -5.51863693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28503436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99533619499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.15, Y:-0.55, Z:-0.04 [[ 9.99976809e-01 -6.81040922e-03 0.00000000e+00 4.31509546e+01] [ 6.81040922e-03 9.99976809e-01 0.00000000e+00 -5.52445822e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.03842865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.025336194999994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.18, Y:-0.55, Z:-0.04 [[ 9.99978844e-01 -6.50469768e-03 0.00000000e+00 4.31833448e+01] [ 6.50469768e-03 9.99978844e-01 0.00000000e+00 -5.52434593e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07705432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.055336194999995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:43.22, Y:-0.55, Z:-0.04 [[ 9.99991025e-01 -4.23671757e-03 0.00000000e+00 4.32156461e+01] [ 4.23671757e-03 9.99991025e-01 0.00000000e+00 -5.50901569e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07904628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.085336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:43.25, Y:-0.55, Z:-0.04 [[ 9.99998112e-01 -1.94314206e-03 0.00000000e+00 4.32466767e+01] [ 1.94314206e-03 9.99998112e-01 0.00000000e+00 -5.50663522e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46594660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.115336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:43.28, Y:-0.55, Z:-0.05 [[ 9.99998331e-01 1.82693470e-03 0.00000000e+00 4.32773296e+01] [-1.82693470e-03 9.99998331e-01 0.00000000e+00 -5.51773307e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.87035783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.145336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:43.31, Y:-0.55, Z:-0.05 [[ 9.99997198e-01 2.36739203e-03 0.00000000e+00 4.33065398e+01] [-2.36739203e-03 9.99997198e-01 0.00000000e+00 -5.51132592e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81502672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.175336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:43.34, Y:-0.55, Z:-0.05 [[ 9.99999310e-01 1.17446059e-03 0.00000000e+00 4.33353403e+01] [-1.17446059e-03 9.99999310e-01 0.00000000e+00 -5.51953011e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.56497347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.205336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:43.37, Y:-0.55, Z:-0.05 [[ 9.99999998e-01 6.90200054e-05 0.00000000e+00 4.33650411e+01] [-6.90200054e-05 9.99999998e-01 0.00000000e+00 -5.54555011e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80065765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.235336194999995 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:43.39, Y:-0.56, Z:-0.05 [[ 9.99999293e-01 -1.18896164e-03 0.00000000e+00 4.33942112e+01] [ 1.18896164e-03 9.99999293e-01 0.00000000e+00 -5.58176421e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.96272922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.265336194999996 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:43.42, Y:-0.56, Z:-0.05 [[ 9.99999180e-01 -1.28026786e-03 0.00000000e+00 4.34244297e+01] [ 1.28026786e-03 9.99999180e-01 0.00000000e+00 -5.58298466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64733159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.295336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:43.45, Y:-0.56, Z:-0.05 [[ 9.99999515e-01 -9.84743170e-04 0.00000000e+00 4.34544191e+01] [ 9.84743170e-04 9.99999515e-01 0.00000000e+00 -5.58671771e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52204192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.325336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.49, Y:-0.56, Z:-0.05 [[ 9.99999645e-01 8.42129696e-04 0.00000000e+00 4.34851685e+01] [-8.42129696e-04 9.99999645e-01 0.00000000e+00 -5.59616227e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70684268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.355336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:43.52, Y:-0.56, Z:-0.04 [[ 9.99996935e-01 2.47581814e-03 0.00000000e+00 4.35151445e+01] [-2.47581814e-03 9.99996935e-01 0.00000000e+00 -5.57784038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46254394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.385336194999994 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:43.55, Y:-0.56, Z:-0.04 [[ 9.99996366e-01 2.69596189e-03 0.00000000e+00 4.35453979e+01] [-2.69596189e-03 9.99996366e-01 0.00000000e+00 -5.56186872e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32205894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.415336194999995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:43.57, Y:-0.56, Z:-0.04 [[ 9.99992742e-01 3.80992790e-03 0.00000000e+00 4.35743811e+01] [-3.80992790e-03 9.99992742e-01 0.00000000e+00 -5.55314260e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36785836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.445336194999996 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:43.60, Y:-0.56, Z:-0.05 [[ 9.99991839e-01 4.04008618e-03 0.00000000e+00 4.36049709e+01] [-4.04008618e-03 9.99991839e-01 0.00000000e+00 -5.59458486e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.49925779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.63, Y:-0.56, Z:-0.06 [[ 9.99988964e-01 4.69800422e-03 0.00000000e+00 4.36315375e+01] [-4.69800422e-03 9.99988964e-01 0.00000000e+00 -5.62447086e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.02662398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.66, Y:-0.56, Z:-0.05 [[ 9.99995141e-01 3.11721420e-03 0.00000000e+00 4.36607397e+01] [-3.11721420e-03 9.99995141e-01 0.00000000e+00 -5.60826642e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.06575817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.535336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.69, Y:-0.56, Z:-0.04 [[ 9.99999831e-01 5.81673071e-04 0.00000000e+00 4.36897778e+01] [-5.81673071e-04 9.99999831e-01 0.00000000e+00 -5.55247165e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49994028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56533619499999 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:43.72, Y:-0.56, Z:-0.04 [[ 9.99999936e-01 -3.57296485e-04 0.00000000e+00 4.37205480e+01] [ 3.57296485e-04 9.99999936e-01 0.00000000e+00 -5.56097524e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20629245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.595336194999994 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:43.75, Y:-0.56, Z:-0.05 [[ 9.99999586e-01 -9.10122378e-04 0.00000000e+00 4.37504913e+01] [ 9.10122378e-04 9.99999586e-01 0.00000000e+00 -5.60301992e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54351140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.625336194999996 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:43.78, Y:-0.57, Z:-0.05 [[ 9.99999137e-01 -1.31397379e-03 0.00000000e+00 4.37818864e+01] [ 1.31397379e-03 9.99999137e-01 0.00000000e+00 -5.69383479e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16579474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.655336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:43.81, Y:-0.57, Z:-0.05 [[ 9.99999007e-01 -1.40924064e-03 0.00000000e+00 4.38131645e+01] [ 1.40924064e-03 9.99999007e-01 0.00000000e+00 -5.69961982e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.01590862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.685336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.84, Y:-0.57, Z:-0.04 [[ 9.99996574e-01 -2.61744284e-03 0.00000000e+00 4.38449821e+01] [ 2.61744284e-03 9.99996574e-01 0.00000000e+00 -5.65554567e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36332039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.715336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:43.88, Y:-0.57, Z:-0.04 [[ 9.99993901e-01 -3.49264053e-03 0.00000000e+00 4.38760858e+01] [ 3.49264053e-03 9.99993901e-01 0.00000000e+00 -5.65025578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28008270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74533619499999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:43.91, Y:-0.57, Z:-0.05 [[ 9.99986960e-01 -5.10681506e-03 0.00000000e+00 4.39082721e+01] [ 5.10681506e-03 9.99986960e-01 0.00000000e+00 -5.68162887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84254434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.775336194999994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:43.94, Y:-0.57, Z:-0.05 [[ 9.99977689e-01 -6.67992953e-03 0.00000000e+00 4.39408724e+01] [ 6.67992953e-03 9.99977689e-01 0.00000000e+00 -5.71536157e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13592905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.805336194999995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:43.97, Y:-0.58, Z:-0.05 [[ 9.99973212e-01 -7.31950921e-03 0.00000000e+00 4.39731688e+01] [ 7.31950921e-03 9.99973212e-01 0.00000000e+00 -5.76354726e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78757087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.835336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.01, Y:-0.58, Z:-0.04 [[ 9.99980672e-01 -6.21732074e-03 0.00000000e+00 4.40052049e+01] [ 6.21732074e-03 9.99980672e-01 0.00000000e+00 -5.75322907e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.25003220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.865336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:44.04, Y:-0.57, Z:-0.04 [[ 9.99993477e-01 -3.61199707e-03 0.00000000e+00 4.40366862e+01] [ 3.61199707e-03 9.99993477e-01 0.00000000e+00 -5.74612922e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89709845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.895336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.07, Y:-0.58, Z:-0.05 [[ 9.99992445e-01 -3.88722961e-03 0.00000000e+00 4.40693226e+01] [ 3.88722961e-03 9.99992445e-01 0.00000000e+00 -5.79401699e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52957257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.925336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:44.10, Y:-0.59, Z:-0.05 [[ 9.99997831e-01 -2.08264877e-03 0.00000000e+00 4.40992333e+01] [ 2.08264877e-03 9.99997831e-01 0.00000000e+00 -5.85962801e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59561971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.955336194999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.13, Y:-0.59, Z:-0.04 [[ 9.99999291e-01 -1.19059464e-03 0.00000000e+00 4.41310176e+01] [ 1.19059464e-03 9.99999291e-01 0.00000000e+00 -5.87741009e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39781066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.985336194999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:44.16, Y:-0.59, Z:-0.04 [[ 9.99999995e-01 9.91798127e-05 0.00000000e+00 4.41623649e+01] [-9.91798127e-05 9.99999995e-01 0.00000000e+00 -5.88807029e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30190207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.015336194999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:44.19, Y:-0.59, Z:-0.04 [[ 9.99996059e-01 2.80732134e-03 0.00000000e+00 4.41928684e+01] [-2.80732134e-03 9.99996059e-01 0.00000000e+00 -5.87337727e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.11653847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.045336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.22, Y:-0.59, Z:-0.04 [[ 9.99991233e-01 4.18726006e-03 0.00000000e+00 4.42207888e+01] [-4.18726006e-03 9.99991233e-01 0.00000000e+00 -5.85116685e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08750012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.075336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.25, Y:-0.59, Z:-0.05 [[ 9.99967034e-01 8.11975647e-03 0.00000000e+00 4.42481861e+01] [-8.11975647e-03 9.99967034e-01 0.00000000e+00 -5.87838023e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.87707502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.105336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:44.28, Y:-0.59, Z:-0.05 [[ 9.99947320e-01 1.02643274e-02 0.00000000e+00 4.42768837e+01] [-1.02643274e-02 9.99947320e-01 0.00000000e+00 -5.92254243e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22143487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.135336194999994 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:44.31, Y:-0.59, Z:-0.06 [[ 9.99920699e-01 1.25934424e-02 0.00000000e+00 4.43058683e+01] [-1.25934424e-02 9.99920699e-01 0.00000000e+00 -5.94848579e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.59334805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.165336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.33, Y:-0.59, Z:-0.05 [[ 9.99910111e-01 1.34078346e-02 0.00000000e+00 4.43339258e+01] [-1.34078346e-02 9.99910111e-01 0.00000000e+00 -5.92213898e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.39252541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.195336194999996 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:44.36, Y:-0.59, Z:-0.05 [[ 9.99899464e-01 1.41796534e-02 0.00000000e+00 4.43623035e+01] [-1.41796534e-02 9.99899464e-01 0.00000000e+00 -5.88468177e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.85768190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.225336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:44.39, Y:-0.59, Z:-0.04 [[ 9.99886103e-01 1.50924095e-02 0.00000000e+00 4.43912382e+01] [-1.50924095e-02 9.99886103e-01 0.00000000e+00 -5.88452127e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31777944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.255336195 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:44.42, Y:-0.59, Z:-0.05 [[ 9.99904993e-01 1.37842272e-02 0.00000000e+00 4.44188888e+01] [-1.37842272e-02 9.99904993e-01 0.00000000e+00 -5.93865065e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79623450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.285336195 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:44.45, Y:-0.60, Z:-0.05 [[ 9.99923361e-01 1.23803160e-02 0.00000000e+00 4.44476801e+01] [-1.23803160e-02 9.99923361e-01 0.00000000e+00 -5.96011060e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66988384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31533619499999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:44.48, Y:-0.60, Z:-0.05 [[ 9.99964628e-01 8.41084918e-03 0.00000000e+00 4.44751823e+01] [-8.41084918e-03 9.99964628e-01 0.00000000e+00 -5.95050564e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61270926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.345336194999994 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:44.50, Y:-0.60, Z:-0.04 [[ 9.99978619e-01 6.53919713e-03 0.00000000e+00 4.45036693e+01] [-6.53919713e-03 9.99978619e-01 0.00000000e+00 -5.95123860e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49990303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.375336194999996 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:44.53, Y:-0.60, Z:-0.05 [[ 9.99987409e-01 5.01805565e-03 0.00000000e+00 4.45309039e+01] [-5.01805565e-03 9.99987409e-01 0.00000000e+00 -6.03352232e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25762466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.405336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:44.56, Y:-0.61, Z:-0.05 [[ 9.99987878e-01 4.92383042e-03 0.00000000e+00 4.45599331e+01] [-4.92383042e-03 9.99987878e-01 0.00000000e+00 -6.09075991e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40860669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.435336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:44.59, Y:-0.61, Z:-0.05 [[ 9.99980818e-01 6.19377922e-03 0.00000000e+00 4.45888156e+01] [-6.19377922e-03 9.99980818e-01 0.00000000e+00 -6.10940458e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13000047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.465336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:44.62, Y:-0.61, Z:-0.05 [[ 9.99974457e-01 7.14735402e-03 0.00000000e+00 4.46171277e+01] [-7.14735402e-03 9.99974457e-01 0.00000000e+00 -6.10608996e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77181109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.65, Y:-0.61, Z:-0.04 [[ 9.99965873e-01 8.26156479e-03 0.00000000e+00 4.46461007e+01] [-8.26156479e-03 9.99965873e-01 0.00000000e+00 -6.09348034e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21456710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.525336194999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.67, Y:-0.61, Z:-0.04 [[ 9.99966806e-01 8.14787498e-03 0.00000000e+00 4.46736613e+01] [-8.14787498e-03 9.99966806e-01 0.00000000e+00 -6.06111063e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22889298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.555336194999995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:44.70, Y:-0.60, Z:-0.04 [[ 9.99967933e-01 8.00828312e-03 0.00000000e+00 4.47022624e+01] [-8.00828312e-03 9.99967933e-01 0.00000000e+00 -6.03732654e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17929885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.585336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:44.73, Y:-0.61, Z:-0.06 [[ 9.99980486e-01 6.24714149e-03 0.00000000e+00 4.47297576e+01] [-6.24714149e-03 9.99980486e-01 0.00000000e+00 -6.11159968e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70091251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.615336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:44.76, Y:-0.61, Z:-0.06 [[ 9.99982795e-01 5.86605656e-03 0.00000000e+00 4.47587528e+01] [-5.86605656e-03 9.99982795e-01 0.00000000e+00 -6.14477108e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62690955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.645336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:44.79, Y:-0.61, Z:-0.06 [[ 9.99978148e-01 6.61079752e-03 0.00000000e+00 4.47862083e+01] [-6.61079752e-03 9.99978148e-01 0.00000000e+00 -6.11497416e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.57412666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.675336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:44.82, Y:-0.61, Z:-0.05 [[ 9.99969011e-01 7.87253410e-03 0.00000000e+00 4.48155085e+01] [-7.87253410e-03 9.99969011e-01 0.00000000e+00 -6.10795206e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.23299859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.705336194999994 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:44.84, Y:-0.61, Z:-0.06 [[ 9.99968200e-01 7.97483708e-03 0.00000000e+00 4.48436197e+01] [-7.97483708e-03 9.99968200e-01 0.00000000e+00 -6.14148958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68073211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.735336194999995 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:44.87, Y:-0.61, Z:-0.06 [[ 9.99968742e-01 7.90661376e-03 0.00000000e+00 4.48720525e+01] [-7.90661376e-03 9.99968742e-01 0.00000000e+00 -6.14426840e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68073211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.765336194999996 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:44.90, Y:-0.61, Z:-0.05 [[ 9.99970996e-01 7.61621859e-03 0.00000000e+00 4.49012207e+01] [-7.61621859e-03 9.99970996e-01 0.00000000e+00 -6.12374961e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67310655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.795336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.93, Y:-0.61, Z:-0.04 [[ 9.99991894e-01 4.02640594e-03 0.00000000e+00 4.49300414e+01] [-4.02640594e-03 9.99991894e-01 0.00000000e+00 -6.11818124e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.48224370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.825336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:44.96, Y:-0.62, Z:-0.05 [[ 9.99998143e-01 1.92721967e-03 0.00000000e+00 4.49574076e+01] [-1.92721967e-03 9.99998143e-01 0.00000000e+00 -6.15167012e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72500337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.99, Y:-0.62, Z:-0.05 [[ 9.99999994e-01 1.11719141e-04 0.00000000e+00 4.49860671e+01] [-1.11719141e-04 9.99999994e-01 0.00000000e+00 -6.17675760e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67599432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.885336194999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:45.02, Y:-0.62, Z:-0.04 [[ 9.99995153e-01 -3.11366113e-03 0.00000000e+00 4.50166981e+01] [ 3.11366113e-03 9.99995153e-01 0.00000000e+00 -6.15719900e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22388076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.915336194999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:45.05, Y:-0.62, Z:-0.05 [[ 9.99990870e-01 -4.27310718e-03 0.00000000e+00 4.50476021e+01] [ 4.27310718e-03 9.99990870e-01 0.00000000e+00 -6.16724282e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58765698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.945336194999996 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:45.08, Y:-0.62, Z:-0.05 [[ 9.99984764e-01 -5.52005564e-03 0.00000000e+00 4.50785015e+01] [ 5.52005564e-03 9.99984764e-01 0.00000000e+00 -6.24708228e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31678041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.975336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:45.11, Y:-0.63, Z:-0.05 [[ 9.99987507e-01 -4.99860708e-03 0.00000000e+00 4.51107180e+01] [ 4.99860708e-03 9.99987507e-01 0.00000000e+00 -6.28814165e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18240207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.005336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:45.14, Y:-0.63, Z:-0.05 [[ 9.99996028e-01 -2.81842675e-03 0.00000000e+00 4.51423414e+01] [ 2.81842675e-03 9.99996028e-01 0.00000000e+00 -6.33669169e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42391126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.035336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:45.17, Y:-0.63, Z:-0.05 [[ 9.99999247e-01 -1.22691279e-03 0.00000000e+00 4.51744808e+01] [ 1.22691279e-03 9.99999247e-01 0.00000000e+00 -6.33217583e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.95125530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:45.21, Y:-0.63, Z:-0.05 [[ 9.99991983e-01 4.00430924e-03 0.00000000e+00 4.52051551e+01] [-4.00430924e-03 9.99991983e-01 0.00000000e+00 -6.30570486e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50559179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.095336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:45.23, Y:-0.63, Z:-0.04 [[ 9.99982078e-01 5.98690063e-03 0.00000000e+00 4.52335794e+01] [-5.98690063e-03 9.99982078e-01 0.00000000e+00 -6.31023387e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.11491232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.125336194999996 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:45.27, Y:-0.64, Z:-0.04 [[ 9.99959665e-01 8.98155507e-03 0.00000000e+00 4.52657222e+01] [-8.98155507e-03 9.99959665e-01 0.00000000e+00 -6.40399954e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36624606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.155336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:45.29, Y:-0.64, Z:-0.05 [[ 9.99972119e-01 7.46730823e-03 0.00000000e+00 4.52920593e+01] [-7.46730823e-03 9.99972119e-01 0.00000000e+00 -6.39158461e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99110593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.185336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:45.32, Y:-0.64, Z:-0.04 [[ 9.99968132e-01 7.98340835e-03 0.00000000e+00 4.53231780e+01] [-7.98340835e-03 9.99968132e-01 0.00000000e+00 -6.41878871e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01980730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.215336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.35, Y:-0.64, Z:-0.05 [[ 9.99983662e-01 5.71634758e-03 0.00000000e+00 4.53501727e+01] [-5.71634758e-03 9.99983662e-01 0.00000000e+00 -6.38283599e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.55557156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24533619499999 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:45.38, Y:-0.64, Z:-0.04 [[ 9.99984378e-01 5.58968934e-03 0.00000000e+00 4.53808025e+01] [-5.58968934e-03 9.99984378e-01 0.00000000e+00 -6.40700276e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.26278258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.275336194999994 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:45.41, Y:-0.64, Z:-0.04 [[ 9.99994624e-01 3.27895533e-03 0.00000000e+00 4.54078042e+01] [-3.27895533e-03 9.99994624e-01 0.00000000e+00 -6.39161198e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49446960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.305336194999995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:45.44, Y:-0.65, Z:-0.05 [[ 9.99997658e-01 2.16425661e-03 0.00000000e+00 4.54368220e+01] [-2.16425661e-03 9.99997658e-01 0.00000000e+00 -6.45198474e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74575897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.335336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:45.47, Y:-0.65, Z:-0.05 [[ 9.99997507e-01 2.23292501e-03 0.00000000e+00 4.54654215e+01] [-2.23292501e-03 9.99997507e-01 0.00000000e+00 -6.47285214e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.01358072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.365336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.50, Y:-0.65, Z:-0.05 [[ 9.99991546e-01 4.11183058e-03 0.00000000e+00 4.54971678e+01] [-4.11183058e-03 9.99991546e-01 0.00000000e+00 -6.50797816e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50828502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.395336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:45.53, Y:-0.65, Z:-0.04 [[ 9.99988209e-01 4.85609067e-03 0.00000000e+00 4.55260529e+01] [-4.85609067e-03 9.99988209e-01 0.00000000e+00 -6.52219064e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28180007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.55, Y:-0.65, Z:-0.04 [[ 9.99986951e-01 5.10867337e-03 0.00000000e+00 4.55533656e+01] [-5.10867337e-03 9.99986951e-01 0.00000000e+00 -6.54765234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.45616047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.455336194999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:45.58, Y:-0.65, Z:-0.05 [[ 9.99991698e-01 4.07485722e-03 0.00000000e+00 4.55804428e+01] [-4.07485722e-03 9.99991698e-01 0.00000000e+00 -6.52594425e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.71008755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.485336194999995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:45.61, Y:-0.65, Z:-0.04 [[ 9.99983099e-01 5.81398005e-03 0.00000000e+00 4.56095127e+01] [-5.81398005e-03 9.99983099e-01 0.00000000e+00 -6.53249862e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35534457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.515336194999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:45.64, Y:-0.66, Z:-0.04 [[ 9.99974459e-01 7.14706424e-03 0.00000000e+00 4.56414842e+01] [-7.14706424e-03 9.99974459e-01 0.00000000e+00 -6.59298641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39255227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.545336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.67, Y:-0.66, Z:-0.04 [[ 9.99990892e-01 4.26807834e-03 0.00000000e+00 4.56676734e+01] [-4.26807834e-03 9.99990892e-01 0.00000000e+00 -6.58144390e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18337586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.575336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:45.70, Y:-0.66, Z:-0.04 [[ 9.99994813e-01 3.22086562e-03 0.00000000e+00 4.56953473e+01] [-3.22086562e-03 9.99994813e-01 0.00000000e+00 -6.57701869e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20142810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.605336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.72, Y:-0.66, Z:-0.04 [[ 9.99998359e-01 1.81181378e-03 0.00000000e+00 4.57243845e+01] [-1.81181378e-03 9.99998359e-01 0.00000000e+00 -6.55377731e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94506920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.635336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:45.76, Y:-0.66, Z:-0.04 [[ 9.99996782e-01 2.53707336e-03 0.00000000e+00 4.57558820e+01] [-2.53707336e-03 9.99996782e-01 0.00000000e+00 -6.60607672e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80311552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.665336194999995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:45.78, Y:-0.66, Z:-0.04 [[ 9.99999604e-01 8.90345152e-04 0.00000000e+00 4.57840178e+01] [-8.90345152e-04 9.99999604e-01 0.00000000e+00 -6.59253348e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17892720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.695336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.81, Y:-0.66, Z:-0.04 [[ 9.99999940e-01 3.47466306e-04 0.00000000e+00 4.58134161e+01] [-3.47466306e-04 9.99999940e-01 0.00000000e+00 -6.60150605e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.14216148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.725336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:45.84, Y:-0.66, Z:-0.04 [[ 9.99999599e-01 -8.96092472e-04 0.00000000e+00 4.58433491e+01] [ 8.96092472e-04 9.99999599e-01 0.00000000e+00 -6.58742401e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34912684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.755336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:45.87, Y:-0.66, Z:-0.04 [[ 9.99999743e-01 -7.17353787e-04 0.00000000e+00 4.58746357e+01] [ 7.17353787e-04 9.99999743e-01 0.00000000e+00 -6.57538663e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27983952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.785336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:45.91, Y:-0.66, Z:-0.05 [[ 9.99999774e-01 -6.72852699e-04 0.00000000e+00 4.59068743e+01] [ 6.72852699e-04 9.99999774e-01 0.00000000e+00 -6.60555258e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.56659121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:45.94, Y:-0.66, Z:-0.05 [[ 9.99995690e-01 -2.93612090e-03 0.00000000e+00 4.59358899e+01] [ 2.93612090e-03 9.99995690e-01 0.00000000e+00 -6.60553883e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.86275028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.845336194999994 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:45.97, Y:-0.67, Z:-0.06 [[ 9.99979086e-01 -6.46745452e-03 0.00000000e+00 4.59666911e+01] [ 6.46745452e-03 9.99979086e-01 0.00000000e+00 -6.67455971e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.58523215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.875336194999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.00, Y:-0.67, Z:-0.05 [[ 9.99973778e-01 -7.24175608e-03 0.00000000e+00 4.60016005e+01] [ 7.24175608e-03 9.99973778e-01 0.00000000e+00 -6.70902710e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08022104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.905336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.03, Y:-0.67, Z:-0.04 [[ 9.99936015e-01 -1.13121782e-02 0.00000000e+00 4.60287578e+01] [ 1.13121782e-02 9.99936015e-01 0.00000000e+00 -6.68163705e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49176541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.935336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.06, Y:-0.67, Z:-0.05 [[ 9.99932944e-01 -1.15804502e-02 0.00000000e+00 4.60598787e+01] [ 1.15804502e-02 9.99932944e-01 0.00000000e+00 -6.70358500e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54045111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.965336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:46.09, Y:-0.68, Z:-0.04 [[ 9.99956969e-01 -9.27689208e-03 0.00000000e+00 4.60924703e+01] [ 9.27689208e-03 9.99956969e-01 0.00000000e+00 -6.75719578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44301806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.12, Y:-0.68, Z:-0.04 [[ 9.99974811e-01 -7.09773470e-03 0.00000000e+00 4.61249806e+01] [ 7.09773470e-03 9.99974811e-01 0.00000000e+00 -6.77763544e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34718624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.025336194999994 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:46.16, Y:-0.68, Z:-0.05 [[ 9.99998393e-01 -1.79294339e-03 0.00000000e+00 4.61560455e+01] [ 1.79294339e-03 9.99998393e-01 0.00000000e+00 -6.81143874e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97262150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.055336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.19, Y:-0.68, Z:-0.05 [[ 9.99999181e-01 1.28015848e-03 0.00000000e+00 4.61876581e+01] [-1.28015848e-03 9.99999181e-01 0.00000000e+00 -6.83389946e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.02855970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.22, Y:-0.68, Z:-0.05 [[ 9.99992067e-01 3.98314630e-03 0.00000000e+00 4.62174179e+01] [-3.98314630e-03 9.99992067e-01 0.00000000e+00 -6.84262909e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97489170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.115336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:46.25, Y:-0.69, Z:-0.05 [[ 9.99967974e-01 8.00318632e-03 0.00000000e+00 4.62453971e+01] [-8.00318632e-03 9.99967974e-01 0.00000000e+00 -6.86348996e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10304183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.145336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:46.27, Y:-0.69, Z:-0.05 [[ 9.99958610e-01 9.09830566e-03 0.00000000e+00 4.62738565e+01] [-9.09830566e-03 9.99958610e-01 0.00000000e+00 -6.88601241e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07642516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.175336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.30, Y:-0.69, Z:-0.05 [[ 9.99962583e-01 8.65061413e-03 0.00000000e+00 4.63028665e+01] [-8.65061413e-03 9.99962583e-01 0.00000000e+00 -6.89603474e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98474162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.205336194999994 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:46.33, Y:-0.70, Z:-0.05 [[ 9.99976586e-01 6.84304157e-03 0.00000000e+00 4.63314956e+01] [-6.84304157e-03 9.99976586e-01 0.00000000e+00 -6.98441029e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.95795210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.235336194999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.36, Y:-0.70, Z:-0.05 [[ 9.99985072e-01 5.46400855e-03 0.00000000e+00 4.63594226e+01] [-5.46400855e-03 9.99985072e-01 0.00000000e+00 -7.01710587e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.28554834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.265336194999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.39, Y:-0.70, Z:-0.05 [[ 9.99998077e-01 1.96093065e-03 0.00000000e+00 4.63874299e+01] [-1.96093065e-03 9.99998077e-01 0.00000000e+00 -7.00217216e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.32948343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.295336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:46.42, Y:-0.70, Z:-0.05 [[ 9.99999288e-01 1.19361594e-03 0.00000000e+00 4.64169452e+01] [-1.19361594e-03 9.99999288e-01 0.00000000e+00 -6.99841861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.37187924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.325336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:46.45, Y:-0.71, Z:-0.05 [[ 9.99996579e-01 2.61565106e-03 0.00000000e+00 4.64464950e+01] [-2.61565106e-03 9.99996579e-01 0.00000000e+00 -7.06278056e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.19405756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.48, Y:-0.71, Z:-0.06 [[ 9.99993944e-01 3.48013898e-03 0.00000000e+00 4.64754967e+01] [-3.48013898e-03 9.99993944e-01 0.00000000e+00 -7.11988675e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.11292825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.385336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:46.50, Y:-0.72, Z:-0.06 [[ 9.99987940e-01 4.91113004e-03 0.00000000e+00 4.65046635e+01] [-4.91113004e-03 9.99987940e-01 0.00000000e+00 -7.17339234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.17111245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.415336194999995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:46.53, Y:-0.72, Z:-0.05 [[ 9.99982368e-01 5.93839724e-03 0.00000000e+00 4.65329756e+01] [-5.93839724e-03 9.99982368e-01 0.00000000e+00 -7.16527325e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41125442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.445336194999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.56, Y:-0.71, Z:-0.05 [[ 9.99973514e-01 7.27808476e-03 0.00000000e+00 4.65618573e+01] [-7.27808476e-03 9.99973514e-01 0.00000000e+00 -7.13977670e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59240579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.475336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:46.59, Y:-0.71, Z:-0.04 [[ 9.99973845e-01 7.23253871e-03 0.00000000e+00 4.65903237e+01] [-7.23253871e-03 9.99973845e-01 0.00000000e+00 -7.14476012e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47880040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.505336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:46.62, Y:-0.72, Z:-0.04 [[ 9.99970466e-01 7.68545727e-03 0.00000000e+00 4.66194999e+01] [-7.68545727e-03 9.99970466e-01 0.00000000e+00 -7.16195683e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37293954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.65, Y:-0.72, Z:-0.05 [[ 9.99969925e-01 7.75555977e-03 0.00000000e+00 4.66467992e+01] [-7.75555977e-03 9.99969925e-01 0.00000000e+00 -7.19446658e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.92810976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.67, Y:-0.73, Z:-0.05 [[ 9.99964168e-01 8.46542818e-03 0.00000000e+00 4.66743213e+01] [-8.46542818e-03 9.99964168e-01 0.00000000e+00 -7.27695752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46058753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.595336194999994 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:46.70, Y:-0.73, Z:-0.05 [[ 9.99957244e-01 9.24717183e-03 0.00000000e+00 4.67033982e+01] [-9.24717183e-03 9.99957244e-01 0.00000000e+00 -7.26580220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88113125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.625336194999996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:46.74, Y:-0.72, Z:-0.04 [[ 9.99946288e-01 1.03644442e-02 0.00000000e+00 4.67358772e+01] [-1.03644442e-02 9.99946288e-01 0.00000000e+00 -7.23416693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24949618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.655336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:46.77, Y:-0.72, Z:-0.04 [[ 9.99947334e-01 1.02630320e-02 0.00000000e+00 4.67651316e+01] [-1.02630320e-02 9.99947334e-01 0.00000000e+00 -7.23646123e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24949618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.685336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:46.79, Y:-0.71, Z:-0.04 [[ 9.99915505e-01 1.29993143e-02 0.00000000e+00 4.67895153e+01] [-1.29993143e-02 9.99915505e-01 0.00000000e+00 -7.13995052e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96597405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.715336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.82, Y:-0.71, Z:-0.05 [[ 9.99880414e-01 1.54647123e-02 0.00000000e+00 4.68189081e+01] [-1.54647123e-02 9.99880414e-01 0.00000000e+00 -7.13753355e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59140360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.85, Y:-0.72, Z:-0.05 [[ 9.99863758e-01 1.65065022e-02 0.00000000e+00 4.68463421e+01] [-1.65065022e-02 9.99863758e-01 0.00000000e+00 -7.16362805e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15387173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.775336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:46.88, Y:-0.72, Z:-0.05 [[ 9.99862235e-01 1.65985356e-02 0.00000000e+00 4.68751147e+01] [-1.65985356e-02 9.99862235e-01 0.00000000e+00 -7.18627008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03537891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.805336194999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:46.90, Y:-0.71, Z:-0.05 [[ 9.99880742e-01 1.54435267e-02 0.00000000e+00 4.69028566e+01] [-1.54435267e-02 9.99880742e-01 0.00000000e+00 -7.14652214e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50537316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.93, Y:-0.71, Z:-0.04 [[ 9.99898046e-01 1.42792412e-02 0.00000000e+00 4.69318050e+01] [-1.42792412e-02 9.99898046e-01 0.00000000e+00 -7.09382538e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96040034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.865336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:46.96, Y:-0.70, Z:-0.03 [[ 9.99928361e-01 1.19696812e-02 0.00000000e+00 4.69595967e+01] [-1.19696812e-02 9.99928361e-01 0.00000000e+00 -7.03898703e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43452461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.895336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.99, Y:-0.71, Z:-0.04 [[ 9.99924458e-01 1.22913705e-02 0.00000000e+00 4.69870878e+01] [-1.22913705e-02 9.99924458e-01 0.00000000e+00 -7.08873069e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07695916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.925336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.02, Y:-0.71, Z:-0.04 [[ 9.99916522e-01 1.29208842e-02 0.00000000e+00 4.70159681e+01] [-1.29208842e-02 9.99916522e-01 0.00000000e+00 -7.11658197e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39636911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.955336194999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.04, Y:-0.71, Z:-0.05 [[ 9.99903065e-01 1.39233488e-02 0.00000000e+00 4.70445448e+01] [-1.39233488e-02 9.99903065e-01 0.00000000e+00 -7.13177598e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67724410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.985336194999995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:47.07, Y:-0.71, Z:-0.04 [[ 9.99867518e-01 1.62771763e-02 0.00000000e+00 4.70722665e+01] [-1.62771763e-02 9.99867518e-01 0.00000000e+00 -7.07423087e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49750883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.015336194999996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:47.10, Y:-0.70, Z:-0.04 [[ 9.99843305e-01 1.77021108e-02 0.00000000e+00 4.71011494e+01] [-1.77021108e-02 9.99843305e-01 0.00000000e+00 -7.04036448e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27162983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.13, Y:-0.70, Z:-0.05 [[ 9.99805323e-01 1.97310773e-02 0.00000000e+00 4.71291219e+01] [-1.97310773e-02 9.99805323e-01 0.00000000e+00 -7.01938509e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79243685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.075336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.16, Y:-0.70, Z:-0.05 [[ 9.99794013e-01 2.02961174e-02 0.00000000e+00 4.71566783e+01] [-2.02961174e-02 9.99794013e-01 0.00000000e+00 -7.02930301e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03142869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.105336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:47.19, Y:-0.70, Z:-0.05 [[ 9.99806242e-01 1.96844628e-02 0.00000000e+00 4.71852435e+01] [-1.96844628e-02 9.99806242e-01 0.00000000e+00 -7.03788421e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08870617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.135336194999994 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:47.21, Y:-0.70, Z:-0.05 [[ 9.99820984e-01 1.89208971e-02 0.00000000e+00 4.72142055e+01] [-1.89208971e-02 9.99820984e-01 0.00000000e+00 -7.04816186e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81150601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.165336194999995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:47.24, Y:-0.71, Z:-0.04 [[ 9.99845264e-01 1.75911412e-02 0.00000000e+00 4.72424647e+01] [-1.75911412e-02 9.99845264e-01 0.00000000e+00 -7.06900936e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39961918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.195336194999996 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:47.27, Y:-0.71, Z:-0.05 [[ 9.99869888e-01 1.61309624e-02 0.00000000e+00 4.72704778e+01] [-1.61309624e-02 9.99869888e-01 0.00000000e+00 -7.07872399e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51764736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.225336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.30, Y:-0.70, Z:-0.04 [[ 9.99914607e-01 1.30682020e-02 0.00000000e+00 4.72992403e+01] [-1.30682020e-02 9.99914607e-01 0.00000000e+00 -7.03524637e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07541017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.255336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.33, Y:-0.70, Z:-0.04 [[ 9.99934894e-01 1.14108736e-02 0.00000000e+00 4.73276630e+01] [-1.14108736e-02 9.99934894e-01 0.00000000e+00 -7.00848281e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.75331509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.285336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.36, Y:-0.71, Z:-0.04 [[ 9.99961199e-01 8.80914203e-03 0.00000000e+00 4.73568397e+01] [-8.80914203e-03 9.99961199e-01 0.00000000e+00 -7.05610894e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09311874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31533619499999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:47.38, Y:-0.71, Z:-0.05 [[ 9.99963600e-01 8.53224354e-03 0.00000000e+00 4.73844738e+01] [-8.53224354e-03 9.99963600e-01 0.00000000e+00 -7.10450052e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50791705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.345336194999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.41, Y:-0.71, Z:-0.05 [[ 9.99936937e-01 1.12304153e-02 0.00000000e+00 4.74118704e+01] [-1.12304153e-02 9.99936937e-01 0.00000000e+00 -7.13043868e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77143767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.375336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.44, Y:-0.71, Z:-0.05 [[ 9.99917164e-01 1.28711271e-02 0.00000000e+00 4.74410791e+01] [-1.28711271e-02 9.99917164e-01 0.00000000e+00 -7.11999278e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74187810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.405336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:47.47, Y:-0.71, Z:-0.04 [[ 9.99869670e-01 1.61444483e-02 0.00000000e+00 4.74692889e+01] [-1.61444483e-02 9.99869670e-01 0.00000000e+00 -7.07895887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39294901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.435336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.50, Y:-0.70, Z:-0.04 [[ 9.99845322e-01 1.75878437e-02 0.00000000e+00 4.74969829e+01] [-1.75878437e-02 9.99845322e-01 0.00000000e+00 -7.03061690e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04490741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.465336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.53, Y:-0.70, Z:-0.03 [[ 9.99811055e-01 1.94384667e-02 0.00000000e+00 4.75261281e+01] [-1.94384667e-02 9.99811055e-01 0.00000000e+00 -6.95675180e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20880602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.56, Y:-0.70, Z:-0.04 [[ 9.99812994e-01 1.93384725e-02 0.00000000e+00 4.75553052e+01] [-1.93384725e-02 9.99812994e-01 0.00000000e+00 -6.97669060e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.66184290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.525336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.58, Y:-0.70, Z:-0.04 [[ 9.99820955e-01 1.89224297e-02 0.00000000e+00 4.75835589e+01] [-1.89224297e-02 9.99820955e-01 0.00000000e+00 -7.01717996e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27737159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.555336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.61, Y:-0.71, Z:-0.05 [[ 9.99829474e-01 1.84667836e-02 0.00000000e+00 4.76114458e+01] [-1.84667836e-02 9.99829474e-01 0.00000000e+00 -7.05074426e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82323531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.64, Y:-0.70, Z:-0.05 [[ 9.99861595e-01 1.66370058e-02 0.00000000e+00 4.76393942e+01] [-1.66370058e-02 9.99861595e-01 0.00000000e+00 -7.03034153e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70356566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.615336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:47.67, Y:-0.70, Z:-0.04 [[ 9.99890413e-01 1.48041096e-02 0.00000000e+00 4.76682555e+01] [-1.48041096e-02 9.99890413e-01 0.00000000e+00 -7.01574298e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37759768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.645336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.70, Y:-0.70, Z:-0.04 [[ 9.99915570e-01 1.29943278e-02 0.00000000e+00 4.76965085e+01] [-1.29943278e-02 9.99915570e-01 0.00000000e+00 -6.99602757e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22610905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.675336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.73, Y:-0.70, Z:-0.04 [[ 9.99958118e-01 9.15214552e-03 0.00000000e+00 4.77253812e+01] [-9.15214552e-03 9.99958118e-01 0.00000000e+00 -6.97888034e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77444624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.705336194999994 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:47.75, Y:-0.70, Z:-0.04 [[ 9.99970660e-01 7.66018226e-03 0.00000000e+00 4.77537126e+01] [-7.66018226e-03 9.99970660e-01 0.00000000e+00 -7.01821662e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07857124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.735336194999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.78, Y:-0.71, Z:-0.05 [[ 9.99988618e-01 4.77120214e-03 0.00000000e+00 4.77837908e+01] [-4.77120214e-03 9.99988618e-01 0.00000000e+00 -7.07163741e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09067503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.765336194999996 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:47.81, Y:-0.71, Z:-0.05 [[ 9.99993352e-01 3.64640947e-03 0.00000000e+00 4.78127746e+01] [-3.64640947e-03 9.99993352e-01 0.00000000e+00 -7.05326988e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76128123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.795336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.84, Y:-0.70, Z:-0.05 [[ 9.99998409e-01 1.78403998e-03 0.00000000e+00 4.78409461e+01] [-1.78403998e-03 9.99998409e-01 0.00000000e+00 -7.01871677e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58737747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.825336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:47.87, Y:-0.70, Z:-0.05 [[ 9.99999605e-01 8.88601975e-04 0.00000000e+00 4.78701986e+01] [-8.88601975e-04 9.99999605e-01 0.00000000e+00 -7.02602936e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51591249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.855336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.90, Y:-0.70, Z:-0.04 [[ 9.99999703e-01 7.70508110e-04 0.00000000e+00 4.78997580e+01] [-7.70508110e-04 9.99999703e-01 0.00000000e+00 -7.04276585e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07649188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.885336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:47.93, Y:-0.71, Z:-0.04 [[ 9.99999273e-01 1.20602260e-03 0.00000000e+00 4.79305181e+01] [-1.20602260e-03 9.99999273e-01 0.00000000e+00 -7.06052843e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80698596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.915336194999995 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:47.96, Y:-0.71, Z:-0.04 [[ 9.99999559e-01 9.38990865e-04 0.00000000e+00 4.79601365e+01] [-9.38990865e-04 9.99999559e-01 0.00000000e+00 -7.08417571e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00930897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.945336194999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:47.99, Y:-0.71, Z:-0.04 [[ 9.99999186e-01 1.27556443e-03 0.00000000e+00 4.79894379e+01] [-1.27556443e-03 9.99999186e-01 0.00000000e+00 -7.09687449e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72280736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.02, Y:-0.71, Z:-0.04 [[ 9.99988752e-01 4.74298178e-03 0.00000000e+00 4.80191864e+01] [-4.74298178e-03 9.99988752e-01 0.00000000e+00 -7.09438008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62116686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.005336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:48.05, Y:-0.71, Z:-0.04 [[ 9.99980733e-01 6.20753853e-03 0.00000000e+00 4.80472959e+01] [-6.20753853e-03 9.99980733e-01 0.00000000e+00 -7.12187673e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94412856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.035336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.08, Y:-0.71, Z:-0.04 [[ 9.99968776e-01 7.90238038e-03 0.00000000e+00 4.80761797e+01] [-7.90238038e-03 9.99968776e-01 0.00000000e+00 -7.14515414e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97553218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.11, Y:-0.71, Z:-0.04 [[ 9.99930729e-01 1.17701874e-02 0.00000000e+00 4.81050560e+01] [-1.17701874e-02 9.99930729e-01 0.00000000e+00 -7.11937152e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.91860300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.095336194999994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:48.13, Y:-0.71, Z:-0.04 [[ 9.99877037e-01 1.56815344e-02 0.00000000e+00 4.81328977e+01] [-1.56815344e-02 9.99877037e-01 0.00000000e+00 -7.07446280e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97849331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.125336194999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.16, Y:-0.71, Z:-0.04 [[ 9.99848724e-01 1.73933458e-02 0.00000000e+00 4.81615697e+01] [-1.73933458e-02 9.99848724e-01 0.00000000e+00 -7.06657490e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00892749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.155336195 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:48.19, Y:-0.71, Z:-0.05 [[ 9.99795764e-01 2.02096756e-02 0.00000000e+00 4.81894738e+01] [-2.02096756e-02 9.99795764e-01 0.00000000e+00 -7.09274853e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67548654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.185336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.22, Y:-0.71, Z:-0.05 [[ 9.99761666e-01 2.18314333e-02 0.00000000e+00 4.82181212e+01] [-2.18314333e-02 9.99761666e-01 0.00000000e+00 -7.11125263e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84809312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.215336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.25, Y:-0.71, Z:-0.05 [[ 9.99724186e-01 2.34851364e-02 0.00000000e+00 4.82464522e+01] [-2.34851364e-02 9.99724186e-01 0.00000000e+00 -7.11313800e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.82070761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.28, Y:-0.71, Z:-0.04 [[ 9.99656285e-01 2.62166271e-02 0.00000000e+00 4.82751650e+01] [-2.62166271e-02 9.99656285e-01 0.00000000e+00 -7.06161701e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19883288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.275336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.30, Y:-0.70, Z:-0.04 [[ 9.99632996e-01 2.70901090e-02 0.00000000e+00 4.83038871e+01] [-2.70901090e-02 9.99632996e-01 0.00000000e+00 -7.03308033e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.02552135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.305336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.33, Y:-0.70, Z:-0.04 [[ 9.99616972e-01 2.76750514e-02 0.00000000e+00 4.83322044e+01] [-2.76750514e-02 9.99616972e-01 0.00000000e+00 -6.98258201e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71732354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.335336195 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:48.36, Y:-0.70, Z:-0.04 [[ 9.99639989e-01 2.68308199e-02 0.00000000e+00 4.83603119e+01] [-2.68308199e-02 9.99639989e-01 0.00000000e+00 -6.95980369e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60373804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.39, Y:-0.69, Z:-0.04 [[ 9.99674021e-01 2.55313688e-02 0.00000000e+00 4.83894870e+01] [-2.55313688e-02 9.99674021e-01 0.00000000e+00 -6.93928756e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.61304339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.395336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.42, Y:-0.69, Z:-0.04 [[ 9.99693733e-01 2.47475490e-02 0.00000000e+00 4.84179852e+01] [-2.47475490e-02 9.99693733e-01 0.00000000e+00 -6.94627162e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21466006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.425336195 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:48.45, Y:-0.69, Z:-0.05 [[ 9.99716120e-01 2.38260358e-02 0.00000000e+00 4.84470359e+01] [-2.38260358e-02 9.99716120e-01 0.00000000e+00 -6.94350101e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76684956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.455336194999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.47, Y:-0.69, Z:-0.05 [[ 9.99718220e-01 2.37377456e-02 0.00000000e+00 4.84748252e+01] [-2.37377456e-02 9.99718220e-01 0.00000000e+00 -6.93833918e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74241359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.485336194999995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:48.50, Y:-0.69, Z:-0.04 [[ 9.99758994e-01 2.19534446e-02 0.00000000e+00 4.85022985e+01] [-2.19534446e-02 9.99758994e-01 0.00000000e+00 -6.89230361e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40872001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.515336194999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.53, Y:-0.69, Z:-0.04 [[ 9.99763743e-01 2.17361138e-02 0.00000000e+00 4.85312862e+01] [-2.17361138e-02 9.99763743e-01 0.00000000e+00 -6.86410536e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01582587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.545336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.56, Y:-0.69, Z:-0.04 [[ 9.99765276e-01 2.16654637e-02 0.00000000e+00 4.85597234e+01] [-2.16654637e-02 9.99765276e-01 0.00000000e+00 -6.86557158e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01582587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.59, Y:-0.68, Z:-0.04 [[ 9.99751535e-01 2.22905488e-02 0.00000000e+00 4.85872122e+01] [-2.22905488e-02 9.99751535e-01 0.00000000e+00 -6.83982873e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98909493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.605336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.62, Y:-0.69, Z:-0.04 [[ 9.99744726e-01 2.25938530e-02 0.00000000e+00 4.86151544e+01] [-2.25938530e-02 9.99744726e-01 0.00000000e+00 -6.85406815e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98375667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.635336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.64, Y:-0.69, Z:-0.04 [[ 9.99704651e-01 2.43024933e-02 0.00000000e+00 4.86442199e+01] [-2.43024933e-02 9.99704651e-01 0.00000000e+00 -6.85408460e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58187773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.665336194999995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:48.67, Y:-0.69, Z:-0.04 [[ 9.99709198e-01 2.41147326e-02 0.00000000e+00 4.86716208e+01] [-2.41147326e-02 9.99709198e-01 0.00000000e+00 -6.86753302e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.83848387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.695336194999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.70, Y:-0.68, Z:-0.03 [[ 9.99732651e-01 2.31219719e-02 0.00000000e+00 4.86998458e+01] [-2.31219719e-02 9.99732651e-01 0.00000000e+00 -6.84358008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46032891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.73, Y:-0.68, Z:-0.03 [[ 9.99741499e-01 2.27362153e-02 0.00000000e+00 4.87272978e+01] [-2.27362153e-02 9.99741499e-01 0.00000000e+00 -6.79559775e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37693058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.755336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.76, Y:-0.68, Z:-0.03 [[ 9.99736439e-01 2.29576344e-02 0.00000000e+00 4.87564897e+01] [-2.29576344e-02 9.99736439e-01 0.00000000e+00 -6.75843851e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46767029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.785336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.79, Y:-0.68, Z:-0.04 [[ 9.99715493e-01 2.38523112e-02 0.00000000e+00 4.87850881e+01] [-2.38523112e-02 9.99715493e-01 0.00000000e+00 -6.77509765e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08354447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.81, Y:-0.68, Z:-0.05 [[ 9.99634531e-01 2.70333954e-02 0.00000000e+00 4.88139119e+01] [-2.70333954e-02 9.99634531e-01 0.00000000e+00 -6.79973873e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60768016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.845336194999994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:48.84, Y:-0.68, Z:-0.05 [[ 9.99592956e-01 2.85293260e-02 0.00000000e+00 4.88413763e+01] [-2.85293260e-02 9.99592956e-01 0.00000000e+00 -6.77276770e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75747485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.875336194999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.87, Y:-0.67, Z:-0.05 [[ 9.99573438e-01 2.92051652e-02 0.00000000e+00 4.88695782e+01] [-2.92051652e-02 9.99573438e-01 0.00000000e+00 -6.68887225e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70232966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.905336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.90, Y:-0.67, Z:-0.04 [[ 9.99614524e-01 2.77633452e-02 0.00000000e+00 4.88978457e+01] [-2.77633452e-02 9.99614524e-01 0.00000000e+00 -6.66095962e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34632163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.935336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.93, Y:-0.67, Z:-0.04 [[ 9.99678503e-01 2.53553024e-02 0.00000000e+00 4.89267079e+01] [-2.53553024e-02 9.99678503e-01 0.00000000e+00 -6.65309878e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.48147796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.965336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.95, Y:-0.66, Z:-0.05 [[ 9.99806875e-01 1.96522760e-02 0.00000000e+00 4.89541163e+01] [-1.96522760e-02 9.99806875e-01 0.00000000e+00 -6.62911764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80671140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.98, Y:-0.66, Z:-0.05 [[ 9.99893518e-01 1.45929306e-02 0.00000000e+00 4.89830649e+01] [-1.45929306e-02 9.99893518e-01 0.00000000e+00 -6.58731094e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75955440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.025336194999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.01, Y:-0.66, Z:-0.05 [[ 9.99916209e-01 1.29450637e-02 0.00000000e+00 4.90118037e+01] [-1.29450637e-02 9.99916209e-01 0.00000000e+00 -6.58568767e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83257782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.055336194999995 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:49.04, Y:-0.66, Z:-0.05 [[ 9.99929185e-01 1.19006635e-02 0.00000000e+00 4.90409015e+01] [-1.19006635e-02 9.99929185e-01 0.00000000e+00 -6.59001233e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.02903533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.085336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:49.07, Y:-0.66, Z:-0.06 [[ 9.99941387e-01 1.08269281e-02 0.00000000e+00 4.90686381e+01] [-1.08269281e-02 9.99941387e-01 0.00000000e+00 -6.56821423e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73760012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.115336195 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:49.10, Y:-0.65, Z:-0.06 [[ 9.99940424e-01 1.09155109e-02 0.00000000e+00 4.90977497e+01] [-1.09155109e-02 9.99940424e-01 0.00000000e+00 -6.54451863e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.51191839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.145336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:49.13, Y:-0.65, Z:-0.05 [[ 9.99949423e-01 1.00574344e-02 0.00000000e+00 4.91264301e+01] [-1.00574344e-02 9.99949423e-01 0.00000000e+00 -6.49398243e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22206812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.175336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.15, Y:-0.65, Z:-0.05 [[ 9.99953720e-01 9.62072026e-03 0.00000000e+00 4.91541264e+01] [-9.62072026e-03 9.99953720e-01 0.00000000e+00 -6.45715311e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.96573686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.205336194999994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:49.18, Y:-0.64, Z:-0.05 [[ 9.99963330e-01 8.56384023e-03 0.00000000e+00 4.91818302e+01] [-8.56384023e-03 9.99963330e-01 0.00000000e+00 -6.41305206e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15675808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.235336194999995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:49.21, Y:-0.64, Z:-0.05 [[ 9.99974916e-01 7.08282725e-03 0.00000000e+00 4.92101126e+01] [-7.08282725e-03 9.99974916e-01 0.00000000e+00 -6.42845320e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42644627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.265336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.24, Y:-0.64, Z:-0.05 [[ 9.99983472e-01 5.74932945e-03 0.00000000e+00 4.92388071e+01] [-5.74932945e-03 9.99983472e-01 0.00000000e+00 -6.44376733e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36916089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.295336195 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:49.27, Y:-0.64, Z:-0.06 [[ 9.99989364e-01 4.61221201e-03 0.00000000e+00 4.92669284e+01] [-4.61221201e-03 9.99989364e-01 0.00000000e+00 -6.43742147e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54877879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.325336195 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:49.29, Y:-0.64, Z:-0.06 [[ 9.99990832e-01 4.28201981e-03 0.00000000e+00 4.92948574e+01] [-4.28201981e-03 9.99990832e-01 0.00000000e+00 -6.42463693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.74091070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.355336195 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:49.32, Y:-0.64, Z:-0.05 [[ 9.99987388e-01 5.02237803e-03 0.00000000e+00 4.93241090e+01] [-5.02237803e-03 9.99987388e-01 0.00000000e+00 -6.39225750e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09836644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.385336194999994 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:49.35, Y:-0.64, Z:-0.05 [[ 9.99982751e-01 5.87355310e-03 0.00000000e+00 4.93514674e+01] [-5.87355310e-03 9.99982751e-01 0.00000000e+00 -6.36973826e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15035472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.415336194999995 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:49.38, Y:-0.63, Z:-0.05 [[ 9.99966069e-01 8.23772369e-03 0.00000000e+00 4.93803412e+01] [-8.23772369e-03 9.99966069e-01 0.00000000e+00 -6.32185345e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99646041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.445336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.41, Y:-0.63, Z:-0.05 [[ 9.99945028e-01 1.04852717e-02 0.00000000e+00 4.94093332e+01] [-1.04852717e-02 9.99945028e-01 0.00000000e+00 -6.30192578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90055026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.475336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:49.44, Y:-0.63, Z:-0.05 [[ 9.99914517e-01 1.30751405e-02 0.00000000e+00 4.94380532e+01] [-1.30751405e-02 9.99914517e-01 0.00000000e+00 -6.28739530e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88100714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.505336195 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:49.47, Y:-0.63, Z:-0.05 [[ 9.99854986e-01 1.70295809e-02 0.00000000e+00 4.94667747e+01] [-1.70295809e-02 9.99854986e-01 0.00000000e+00 -6.28822709e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.38482171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.535336195 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:49.49, Y:-0.62, Z:-0.06 [[ 9.99884508e-01 1.51977092e-02 0.00000000e+00 4.94935249e+01] [-1.51977092e-02 9.99884508e-01 0.00000000e+00 -6.24788299e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54764799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56533619499999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:49.52, Y:-0.62, Z:-0.05 [[ 9.99922677e-01 1.24354274e-02 0.00000000e+00 4.95221535e+01] [-1.24354274e-02 9.99922677e-01 0.00000000e+00 -6.22420499e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12539037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.595336194999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.55, Y:-0.62, Z:-0.05 [[ 9.99957255e-01 9.24600692e-03 0.00000000e+00 4.95487993e+01] [-9.24600692e-03 9.99957255e-01 0.00000000e+00 -6.20430648e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22641816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.625336194999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.58, Y:-0.62, Z:-0.05 [[ 9.99995034e-01 3.15147640e-03 0.00000000e+00 4.95779697e+01] [-3.15147640e-03 9.99995034e-01 0.00000000e+00 -6.16236953e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91517683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.655336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:49.61, Y:-0.62, Z:-0.06 [[ 9.99999454e-01 -1.04480391e-03 0.00000000e+00 4.96062567e+01] [ 1.04480391e-03 9.99999454e-01 0.00000000e+00 -6.15256544e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72149240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.685336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:49.64, Y:-0.62, Z:-0.06 [[ 9.99997336e-01 -2.30829351e-03 0.00000000e+00 4.96377111e+01] [ 2.30829351e-03 9.99997336e-01 0.00000000e+00 -6.15805519e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.96513854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.715336195 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:49.67, Y:-0.62, Z:-0.06 [[ 9.99996637e-01 -2.59360002e-03 0.00000000e+00 4.96698328e+01] [ 2.59360002e-03 9.99996637e-01 0.00000000e+00 -6.16275002e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.16959781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:49.70, Y:-0.62, Z:-0.06 [[ 9.99997087e-01 -2.41352030e-03 0.00000000e+00 4.97020594e+01] [ 2.41352030e-03 9.99997087e-01 0.00000000e+00 -6.16034000e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.11306172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.775336194999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.73, Y:-0.61, Z:-0.06 [[ 9.99998203e-01 -1.89572379e-03 0.00000000e+00 4.97332224e+01] [ 1.89572379e-03 9.99998203e-01 0.00000000e+00 -6.14634924e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.30333659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.805336194999995 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:49.76, Y:-0.61, Z:-0.05 [[ 9.99999034e-01 -1.38968537e-03 0.00000000e+00 4.97649647e+01] [ 1.38968537e-03 9.99999034e-01 0.00000000e+00 -6.07601267e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22970007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.835336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:49.80, Y:-0.60, Z:-0.05 [[ 9.99999153e-01 -1.30137967e-03 0.00000000e+00 4.97963685e+01] [ 1.30137967e-03 9.99999153e-01 0.00000000e+00 -6.04712267e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31672843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.865336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:49.83, Y:-0.60, Z:-0.05 [[ 9.99999224e-01 -1.24542616e-03 0.00000000e+00 4.98275060e+01] [ 1.24542616e-03 9.99999224e-01 0.00000000e+00 -6.00932092e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.35389916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.895336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:49.86, Y:-0.60, Z:-0.05 [[ 9.99999691e-01 -7.86764019e-04 0.00000000e+00 4.98591530e+01] [ 7.86764019e-04 9.99999691e-01 0.00000000e+00 -5.99235614e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.24059960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.925336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:49.89, Y:-0.60, Z:-0.06 [[ 9.99998339e-01 1.82258205e-03 0.00000000e+00 4.98900631e+01] [-1.82258205e-03 9.99998339e-01 0.00000000e+00 -6.00422592e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.08621601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.955336194999994 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:49.92, Y:-0.60, Z:-0.07 [[ 9.99997586e-01 2.19724292e-03 0.00000000e+00 4.99189701e+01] [-2.19724292e-03 9.99997586e-01 0.00000000e+00 -6.01257522e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.59847175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.985336194999995 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:49.95, Y:-0.60, Z:-0.07 [[ 9.99998192e-01 1.90160264e-03 0.00000000e+00 4.99475421e+01] [-1.90160264e-03 9.99998192e-01 0.00000000e+00 -6.00385796e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.82345317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.015336194999996 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:49.98, Y:-0.59, Z:-0.06 [[ 9.99999984e-01 -1.80651541e-04 0.00000000e+00 4.99764652e+01] [ 1.80651541e-04 9.99999984e-01 0.00000000e+00 -5.92175226e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76857564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.045336195 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:50.01, Y:-0.59, Z:-0.05 [[ 9.99993994e-01 -3.46588863e-03 0.00000000e+00 5.00071025e+01] [ 3.46588863e-03 9.99993994e-01 0.00000000e+00 -5.90552451e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.20443781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.075336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.04, Y:-0.59, Z:-0.06 [[ 9.99986074e-01 -5.27739131e-03 0.00000000e+00 5.00381000e+01] [ 5.27739131e-03 9.99986074e-01 0.00000000e+00 -5.93537345e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81035088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.105336195 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:50.07, Y:-0.60, Z:-0.06 [[ 9.99978471e-01 -6.56187308e-03 0.00000000e+00 5.00702408e+01] [ 6.56187308e-03 9.99978471e-01 0.00000000e+00 -5.97348463e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76788931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.135336194999994 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:50.10, Y:-0.60, Z:-0.06 [[ 9.99974022e-01 -7.20794709e-03 0.00000000e+00 5.01022899e+01] [ 7.20794709e-03 9.99974022e-01 0.00000000e+00 -5.97979120e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.92288853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.165336194999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:50.13, Y:-0.59, Z:-0.05 [[ 9.99981630e-01 -6.06139898e-03 0.00000000e+00 5.01332535e+01] [ 6.06139898e-03 9.99981630e-01 0.00000000e+00 -5.87797483e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.44025406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.195336194999996 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:50.16, Y:-0.58, Z:-0.05 [[ 9.99986415e-01 -5.21246542e-03 0.00000000e+00 5.01649187e+01] [ 5.21246542e-03 9.99986415e-01 0.00000000e+00 -5.83850119e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46371022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.225336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:50.20, Y:-0.58, Z:-0.06 [[ 9.99997282e-01 -2.33155966e-03 0.00000000e+00 5.01969697e+01] [ 2.33155966e-03 9.99997282e-01 0.00000000e+00 -5.84574607e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.86361266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.255336195 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:50.23, Y:-0.59, Z:-0.06 [[ 9.99999515e-01 -9.84754945e-04 0.00000000e+00 5.02287775e+01] [ 9.84754945e-04 9.99999515e-01 0.00000000e+00 -5.86329213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.25790419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.285336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:50.26, Y:-0.59, Z:-0.07 [[ 9.99999997e-01 -7.58105501e-05 0.00000000e+00 5.02589231e+01] [ 7.58105501e-05 9.99999997e-01 0.00000000e+00 -5.87110742e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81923816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31533619499999 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:50.29, Y:-0.58, Z:-0.06 [[ 9.99999725e-01 -7.42102632e-04 0.00000000e+00 5.02891110e+01] [ 7.42102632e-04 9.99999725e-01 0.00000000e+00 -5.84936427e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35901312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.345336194999994 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:50.32, Y:-0.58, Z:-0.06 [[ 9.99999085e-01 -1.35295169e-03 0.00000000e+00 5.03207262e+01] [ 1.35295169e-03 9.99999085e-01 0.00000000e+00 -5.83683112e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.09189380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.375336194999996 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:50.35, Y:-0.58, Z:-0.06 [[ 9.99999070e-01 -1.36392481e-03 0.00000000e+00 5.03521618e+01] [ 1.36392481e-03 9.99999070e-01 0.00000000e+00 -5.81860292e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.95982095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.405336195 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:50.38, Y:-0.58, Z:-0.06 [[ 9.99998274e-01 -1.85773449e-03 0.00000000e+00 5.03837619e+01] [ 1.85773449e-03 9.99998274e-01 0.00000000e+00 -5.79643777e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.86588077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.435336195 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:50.42, Y:-0.58, Z:-0.06 [[ 9.99993022e-01 -3.73580192e-03 0.00000000e+00 5.04162749e+01] [ 3.73580192e-03 9.99993022e-01 0.00000000e+00 -5.79886750e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62409520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.465336195 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:50.45, Y:-0.58, Z:-0.06 [[ 9.99993199e-01 -3.68815752e-03 0.00000000e+00 5.04489742e+01] [ 3.68815752e-03 9.99993199e-01 0.00000000e+00 -5.80208765e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62409520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49533619499999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:50.48, Y:-0.58, Z:-0.06 [[ 9.99987052e-01 -5.08877917e-03 0.00000000e+00 5.04796927e+01] [ 5.08877917e-03 9.99987052e-01 0.00000000e+00 -5.84486364e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.45700638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.525336194999994 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:50.51, Y:-0.59, Z:-0.07 [[ 9.99967648e-01 -8.04384045e-03 0.00000000e+00 5.05107191e+01] [ 8.04384045e-03 9.99967648e-01 0.00000000e+00 -5.89250509e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88051759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.555336194999995 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:50.54, Y:-0.59, Z:-0.07 [[ 9.99941216e-01 -1.08426769e-02 0.00000000e+00 5.05429198e+01] [ 1.08426769e-02 9.99941216e-01 0.00000000e+00 -5.87414013e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.67259890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.585336195 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:50.58, Y:-0.59, Z:-0.07 [[ 9.99934782e-01 -1.14206459e-02 0.00000000e+00 5.05751087e+01] [ 1.14206459e-02 9.99934782e-01 0.00000000e+00 -5.86831512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.72580765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.615336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:50.61, Y:-0.59, Z:-0.06 [[ 9.99941862e-01 -1.07829596e-02 0.00000000e+00 5.06069756e+01] [ 1.07829596e-02 9.99941862e-01 0.00000000e+00 -5.88136944e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49180334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.645336195 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:50.64, Y:-0.59, Z:-0.07 [[ 9.99964420e-01 -8.43560899e-03 0.00000000e+00 5.06404808e+01] [ 8.43560899e-03 9.99964420e-01 0.00000000e+00 -5.89080547e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.61902465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67533619499999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:50.67, Y:-0.59, Z:-0.07 [[ 9.99979347e-01 -6.42691179e-03 0.00000000e+00 5.06713286e+01] [ 6.42691179e-03 9.99979347e-01 0.00000000e+00 -5.86365957e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.74157300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.705336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:50.70, Y:-0.58, Z:-0.06 [[ 9.99998216e-01 -1.88890183e-03 0.00000000e+00 5.07026847e+01] [ 1.88890183e-03 9.99998216e-01 0.00000000e+00 -5.82353861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.95771917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.735336194999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.73, Y:-0.58, Z:-0.06 [[ 9.99999954e-01 -3.03562769e-04 0.00000000e+00 5.07347940e+01] [ 3.03562769e-04 9.99999954e-01 0.00000000e+00 -5.81827448e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88170357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.765336194999996 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:50.76, Y:-0.58, Z:-0.06 [[ 9.99998649e-01 1.64397819e-03 0.00000000e+00 5.07648062e+01] [-1.64397819e-03 9.99998649e-01 0.00000000e+00 -5.78080719e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99016626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.795336195 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:50.79, Y:-0.58, Z:-0.06 [[ 9.99999942e-01 3.39418452e-04 0.00000000e+00 5.07939788e+01] [-3.39418452e-04 9.99999942e-01 0.00000000e+00 -5.75206742e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.51800998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.825336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:50.82, Y:-0.57, Z:-0.06 [[ 9.99985941e-01 -5.30264353e-03 0.00000000e+00 5.08238071e+01] [ 5.30264353e-03 9.99985941e-01 0.00000000e+00 -5.71373947e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.52296371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.855336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:50.86, Y:-0.57, Z:-0.06 [[ 9.99967815e-01 -8.02306566e-03 0.00000000e+00 5.08562761e+01] [ 8.02306566e-03 9.99967815e-01 0.00000000e+00 -5.70631303e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73908578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.885336194999994 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:50.89, Y:-0.57, Z:-0.07 [[ 9.99921699e-01 -1.25137972e-02 0.00000000e+00 5.08865113e+01] [ 1.25137972e-02 9.99921699e-01 0.00000000e+00 -5.72328517e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.67749714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.915336194999995 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:50.92, Y:-0.57, Z:-0.07 [[ 9.99900412e-01 -1.41126306e-02 0.00000000e+00 5.09188469e+01] [ 1.41126306e-02 9.99900412e-01 0.00000000e+00 -5.74995813e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.13381495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.945336194999996 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:50.95, Y:-0.58, Z:-0.07 [[ 9.99888607e-01 -1.49255769e-02 0.00000000e+00 5.09511712e+01] [ 1.49255769e-02 9.99888607e-01 0.00000000e+00 -5.78733580e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.03741943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.975336195 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:50.98, Y:-0.57, Z:-0.07 [[ 9.99893892e-01 -1.45672727e-02 0.00000000e+00 5.09827609e+01] [ 1.45672727e-02 9.99893892e-01 0.00000000e+00 -5.74304803e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99393805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.005336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.02, Y:-0.57, Z:-0.06 [[ 9.99909795e-01 -1.34313400e-02 0.00000000e+00 5.10153634e+01] [ 1.34313400e-02 9.99909795e-01 0.00000000e+00 -5.68143764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49637688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.035336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.05, Y:-0.56, Z:-0.06 [[ 9.99943241e-01 -1.06543621e-02 0.00000000e+00 5.10470563e+01] [ 1.06543621e-02 9.99943241e-01 0.00000000e+00 -5.62160800e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73298787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06533619499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:51.08, Y:-0.57, Z:-0.07 [[ 9.99971507e-01 -7.54888590e-03 0.00000000e+00 5.10782796e+01] [ 7.54888590e-03 9.99971507e-01 0.00000000e+00 -5.67165404e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.68454542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.095336194999994 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:51.11, Y:-0.57, Z:-0.07 [[ 9.99981968e-01 -6.00532001e-03 0.00000000e+00 5.11099692e+01] [ 6.00532001e-03 9.99981968e-01 0.00000000e+00 -5.67320209e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04350969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.125336194999996 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:51.14, Y:-0.56, Z:-0.06 [[ 9.99989726e-01 -4.53306887e-03 0.00000000e+00 5.11418883e+01] [ 4.53306887e-03 9.99989726e-01 0.00000000e+00 -5.63140257e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.34328779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.155336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:51.17, Y:-0.55, Z:-0.06 [[ 9.99996086e-01 -2.79800960e-03 0.00000000e+00 5.11732329e+01] [ 2.79800960e-03 9.99996086e-01 0.00000000e+00 -5.54766383e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.08257264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.185336195 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:51.20, Y:-0.56, Z:-0.07 [[ 9.99997855e-01 -2.07103349e-03 0.00000000e+00 5.12044804e+01] [ 2.07103349e-03 9.99997855e-01 0.00000000e+00 -5.55563858e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88938212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.215336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.24, Y:-0.56, Z:-0.07 [[ 9.99999831e-01 5.82113032e-04 0.00000000e+00 5.12359575e+01] [-5.82113032e-04 9.99999831e-01 0.00000000e+00 -5.58169252e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.15641503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24533619499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.27, Y:-0.56, Z:-0.07 [[ 9.99999241e-01 1.23227823e-03 0.00000000e+00 5.12665697e+01] [-1.23227823e-03 9.99999241e-01 0.00000000e+00 -5.57600828e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.89443350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.275336194999994 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:51.30, Y:-0.56, Z:-0.07 [[ 9.99997986e-01 2.00707626e-03 0.00000000e+00 5.12960119e+01] [-2.00707626e-03 9.99997986e-01 0.00000000e+00 -5.58792767e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62587792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.305336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.33, Y:-0.56, Z:-0.07 [[ 9.99996212e-01 2.75251601e-03 0.00000000e+00 5.13253992e+01] [-2.75251601e-03 9.99996212e-01 0.00000000e+00 -5.58939056e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.80136542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.335336195 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:51.35, Y:-0.56, Z:-0.07 [[ 9.99995001e-01 3.16183979e-03 0.00000000e+00 5.13533139e+01] [-3.16183979e-03 9.99995001e-01 0.00000000e+00 -5.56406960e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01141901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.365336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:51.38, Y:-0.55, Z:-0.06 [[ 9.99996183e-01 2.76285073e-03 0.00000000e+00 5.13817386e+01] [-2.76285073e-03 9.99996183e-01 0.00000000e+00 -5.51105655e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47872576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.395336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:51.41, Y:-0.55, Z:-0.07 [[ 9.99999404e-01 1.09178648e-03 0.00000000e+00 5.14092536e+01] [-1.09178648e-03 9.99999404e-01 0.00000000e+00 -5.52012417e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.85346487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42533619499999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:51.44, Y:-0.56, Z:-0.07 [[ 9.99996699e-01 -2.56940067e-03 0.00000000e+00 5.14390593e+01] [ 2.56940067e-03 9.99996699e-01 0.00000000e+00 -5.57840167e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.74782514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.455336194999994 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:51.47, Y:-0.56, Z:-0.07 [[ 9.99993564e-01 -3.58772090e-03 0.00000000e+00 5.14714971e+01] [ 3.58772090e-03 9.99993564e-01 0.00000000e+00 -5.59368318e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.89002889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.485336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.50, Y:-0.56, Z:-0.07 [[ 9.99988838e-01 -4.72487408e-03 0.00000000e+00 5.15029303e+01] [ 4.72487408e-03 9.99988838e-01 0.00000000e+00 -5.59176221e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64620881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.515336194999996 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:51.53, Y:-0.56, Z:-0.06 [[ 9.99986620e-01 -5.17308572e-03 0.00000000e+00 5.15347889e+01] [ 5.17308572e-03 9.99986620e-01 0.00000000e+00 -5.60588136e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.45870373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.545336195 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:51.57, Y:-0.56, Z:-0.07 [[ 9.99987910e-01 -4.91731010e-03 0.00000000e+00 5.15660813e+01] [ 4.91731010e-03 9.99987910e-01 0.00000000e+00 -5.63869016e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.78165355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.575336195 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:51.60, Y:-0.56, Z:-0.07 [[ 9.99991458e-01 -4.13334032e-03 0.00000000e+00 5.15969842e+01] [ 4.13334032e-03 9.99991458e-01 0.00000000e+00 -5.64440554e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.06167972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.605336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:51.63, Y:-0.56, Z:-0.07 [[ 9.99994983e-01 -3.16775421e-03 0.00000000e+00 5.16285963e+01] [ 3.16775421e-03 9.99994983e-01 0.00000000e+00 -5.62571647e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.93173635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.635336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.66, Y:-0.56, Z:-0.07 [[ 9.99997961e-01 -2.01956806e-03 0.00000000e+00 5.16611297e+01] [ 2.01956806e-03 9.99997961e-01 0.00000000e+00 -5.60362267e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64381278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.665336194999995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:51.69, Y:-0.56, Z:-0.07 [[ 9.99999978e-01 2.08360031e-04 0.00000000e+00 5.16921315e+01] [-2.08360031e-04 9.99999978e-01 0.00000000e+00 -5.56660262e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75185640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.695336194999996 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:51.72, Y:-0.56, Z:-0.07 [[ 9.99999817e-01 6.05500309e-04 0.00000000e+00 5.17211726e+01] [-6.05500309e-04 9.99999817e-01 0.00000000e+00 -5.57311614e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.39853536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.725336195 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:51.75, Y:-0.56, Z:-0.07 [[ 9.99999982e-01 1.91909943e-04 0.00000000e+00 5.17510781e+01] [-1.91909943e-04 9.99999982e-01 0.00000000e+00 -5.58276145e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.65754461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.755336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:51.78, Y:-0.56, Z:-0.07 [[ 9.99999442e-01 -1.05675205e-03 0.00000000e+00 5.17816062e+01] [ 1.05675205e-03 9.99999442e-01 0.00000000e+00 -5.60001441e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.80062579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.785336195 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:51.81, Y:-0.56, Z:-0.07 [[ 9.99986368e-01 -5.22143505e-03 0.00000000e+00 5.18132275e+01] [ 5.22143505e-03 9.99986368e-01 0.00000000e+00 -5.62374090e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.57296397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81533619499999 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:51.85, Y:-0.56, Z:-0.07 [[ 9.99967048e-01 -8.11807555e-03 0.00000000e+00 5.18450705e+01] [ 8.11807555e-03 9.99967048e-01 0.00000000e+00 -5.62575884e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.79055710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.845336194999994 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:51.88, Y:-0.57, Z:-0.07 [[ 9.99893273e-01 -1.46096449e-02 0.00000000e+00 5.18767531e+01] [ 1.46096449e-02 9.99893273e-01 0.00000000e+00 -5.67245984e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.19342761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.875336194999996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:51.91, Y:-0.57, Z:-0.08 [[ 9.99859025e-01 -1.67907577e-02 0.00000000e+00 5.19079194e+01] [ 1.67907577e-02 9.99859025e-01 0.00000000e+00 -5.69855655e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.84333651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.905336195 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:51.94, Y:-0.57, Z:-0.07 [[ 9.99813770e-01 -1.92983473e-02 0.00000000e+00 5.19406519e+01] [ 1.92983473e-02 9.99813770e-01 0.00000000e+00 -5.71655458e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36317825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.935336195 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:51.97, Y:-0.57, Z:-0.08 [[ 9.99800184e-01 -1.99897961e-02 0.00000000e+00 5.19714294e+01] [ 1.99897961e-02 9.99800184e-01 0.00000000e+00 -5.72394123e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.59850653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.965336195 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:52.00, Y:-0.58, Z:-0.07 [[ 9.99800689e-01 -1.99645303e-02 0.00000000e+00 5.20033075e+01] [ 1.99645303e-02 9.99800689e-01 0.00000000e+00 -5.76902297e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.32185853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.04, Y:-0.58, Z:-0.08 [[ 9.99806404e-01 -1.96762598e-02 0.00000000e+00 5.20354513e+01] [ 1.96762598e-02 9.99806404e-01 0.00000000e+00 -5.80538137e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61641853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.025336194999994 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:52.07, Y:-0.59, Z:-0.08 [[ 9.99860782e-01 -1.66857944e-02 0.00000000e+00 5.20675230e+01] [ 1.66857944e-02 9.99860782e-01 0.00000000e+00 -5.86033130e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.57435726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.055336194999995 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:52.10, Y:-0.59, Z:-0.09 [[ 9.99881406e-01 -1.54004350e-02 0.00000000e+00 5.20988643e+01] [ 1.54004350e-02 9.99881406e-01 0.00000000e+00 -5.89215675e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.92470660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.085336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.13, Y:-0.59, Z:-0.09 [[ 9.99943035e-01 -1.06736556e-02 0.00000000e+00 5.21310174e+01] [ 1.06736556e-02 9.99943035e-01 0.00000000e+00 -5.91381086e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55710558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.115336195 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:52.16, Y:-0.59, Z:-0.07 [[ 9.99985017e-01 -5.47415671e-03 0.00000000e+00 5.21631612e+01] [ 5.47415671e-03 9.99985017e-01 0.00000000e+00 -5.89707377e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.40630362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.145336195 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:52.19, Y:-0.59, Z:-0.07 [[ 9.99990691e-01 -4.31490005e-03 0.00000000e+00 5.21941401e+01] [ 4.31490005e-03 9.99990691e-01 0.00000000e+00 -5.87767409e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.41466070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17533619499999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:52.23, Y:-0.59, Z:-0.07 [[ 9.99995488e-01 -3.00397543e-03 0.00000000e+00 5.22267217e+01] [ 3.00397543e-03 9.99995488e-01 0.00000000e+00 -5.87308530e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00633767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.205336194999994 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:52.26, Y:-0.59, Z:-0.08 [[ 9.99999675e-01 -8.05758784e-04 0.00000000e+00 5.22566484e+01] [ 8.05758784e-04 9.99999675e-01 0.00000000e+00 -5.93526423e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.22182838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.235336194999995 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:52.29, Y:-0.60, Z:-0.09 [[ 1.00000000e+00 1.69961216e-05 0.00000000e+00 5.22878527e+01] [-1.69961216e-05 1.00000000e+00 0.00000000e+00 -5.97483072e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.67934831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.265336194999996 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:52.32, Y:-0.60, Z:-0.09 [[ 9.99999878e-01 4.94002011e-04 0.00000000e+00 5.23171311e+01] [-4.94002011e-04 9.99999878e-01 0.00000000e+00 -5.96755751e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.67507146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.295336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:52.35, Y:-0.59, Z:-0.08 [[ 9.99999887e-01 -4.75960087e-04 0.00000000e+00 5.23473415e+01] [ 4.75960087e-04 9.99999887e-01 0.00000000e+00 -5.93432973e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.90467738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.325336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:52.38, Y:-0.59, Z:-0.07 [[ 9.99990423e-01 -4.37656233e-03 0.00000000e+00 5.23778760e+01] [ 4.37656233e-03 9.99990423e-01 0.00000000e+00 -5.91988309e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37689796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.355336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:52.41, Y:-0.59, Z:-0.07 [[ 9.99990624e-01 -4.33032282e-03 0.00000000e+00 5.24105667e+01] [ 4.33032282e-03 9.99990624e-01 0.00000000e+00 -5.92399692e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37689796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.385336194999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:52.44, Y:-0.59, Z:-0.07 [[ 9.99981476e-01 -6.08662174e-03 0.00000000e+00 5.24423592e+01] [ 6.08662174e-03 9.99981476e-01 0.00000000e+00 -5.94108323e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.73825781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.415336194999995 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:52.48, Y:-0.60, Z:-0.07 [[ 9.99962944e-01 -8.60871753e-03 0.00000000e+00 5.24750638e+01] [ 8.60871753e-03 9.99962944e-01 0.00000000e+00 -5.98425903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88773936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.445336194999996 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:52.51, Y:-0.60, Z:-0.07 [[ 9.99949274e-01 -1.00722311e-02 0.00000000e+00 5.25077310e+01] [ 1.00722311e-02 9.99949274e-01 0.00000000e+00 -6.02212350e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.19785217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.475336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:52.54, Y:-0.61, Z:-0.08 [[ 9.99924812e-01 -1.22625726e-02 0.00000000e+00 5.25393750e+01] [ 1.22625726e-02 9.99924812e-01 0.00000000e+00 -6.05415157e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.60383861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.505336195 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:52.57, Y:-0.60, Z:-0.08 [[ 9.99927687e-01 -1.20258187e-02 0.00000000e+00 5.25701607e+01] [ 1.20258187e-02 9.99927687e-01 0.00000000e+00 -6.04682044e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.78792138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.535336195 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:52.60, Y:-0.61, Z:-0.08 [[ 9.99923218e-01 -1.23918477e-02 0.00000000e+00 5.26014435e+01] [ 1.23918477e-02 9.99923218e-01 0.00000000e+00 -6.07022458e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.64466875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56533619499999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:52.63, Y:-0.61, Z:-0.08 [[ 9.99925682e-01 -1.21914062e-02 0.00000000e+00 5.26316029e+01] [ 1.21914062e-02 9.99925682e-01 0.00000000e+00 -6.10681143e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.20152502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.595336194999994 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:52.66, Y:-0.61, Z:-0.09 [[ 9.99949700e-01 -1.00297910e-02 0.00000000e+00 5.26618289e+01] [ 1.00297910e-02 9.99949700e-01 0.00000000e+00 -6.11065770e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.72142570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.625336194999996 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:52.69, Y:-0.61, Z:-0.09 [[ 9.99967520e-01 -8.05966352e-03 0.00000000e+00 5.26927083e+01] [ 8.05966352e-03 9.99967520e-01 0.00000000e+00 -6.09572007e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.62518402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.655336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:52.72, Y:-0.61, Z:-0.08 [[ 9.99977677e-01 -6.68168930e-03 0.00000000e+00 5.27240664e+01] [ 6.68168930e-03 9.99977677e-01 0.00000000e+00 -6.11193499e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.19633303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.685336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:52.75, Y:-0.61, Z:-0.09 [[ 9.99982706e-01 -5.88109732e-03 0.00000000e+00 5.27549348e+01] [ 5.88109732e-03 9.99982706e-01 0.00000000e+00 -6.12331604e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79486762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.715336195 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:52.79, Y:-0.61, Z:-0.07 [[ 9.99993575e-01 -3.58456849e-03 0.00000000e+00 5.27862915e+01] [ 3.58456849e-03 9.99993575e-01 0.00000000e+00 -6.09403628e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.43496949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.82, Y:-0.61, Z:-0.07 [[ 9.99996186e-01 -2.76204234e-03 0.00000000e+00 5.28185946e+01] [ 2.76204234e-03 9.99996186e-01 0.00000000e+00 -6.09553697e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99181038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.775336194999994 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:52.85, Y:-0.61, Z:-0.07 [[ 9.99995807e-01 -2.89589113e-03 0.00000000e+00 5.28494192e+01] [ 2.89589113e-03 9.99995807e-01 0.00000000e+00 -6.13683896e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30545814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.805336194999995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:52.88, Y:-0.62, Z:-0.08 [[ 9.99991537e-01 -4.11422755e-03 0.00000000e+00 5.28810598e+01] [ 4.11422755e-03 9.99991537e-01 0.00000000e+00 -6.15047442e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.63278416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.835336195 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:52.91, Y:-0.62, Z:-0.07 [[ 9.99983639e-01 -5.72036396e-03 0.00000000e+00 5.29134352e+01] [ 5.72036396e-03 9.99983639e-01 0.00000000e+00 -6.15419703e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11459925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.865336195 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:52.94, Y:-0.62, Z:-0.08 [[ 9.99948558e-01 -1.01430747e-02 0.00000000e+00 5.29435774e+01] [ 1.01430747e-02 9.99948558e-01 0.00000000e+00 -6.18725482e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.32907553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.895336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:52.97, Y:-0.62, Z:-0.09 [[ 9.99894267e-01 -1.45415183e-02 0.00000000e+00 5.29748925e+01] [ 1.45415183e-02 9.99894267e-01 0.00000000e+00 -6.24974292e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.73296613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92533619499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.01, Y:-0.63, Z:-0.07 [[ 9.99867412e-01 -1.62836785e-02 0.00000000e+00 5.30069972e+01] [ 1.62836785e-02 9.99867412e-01 0.00000000e+00 -6.26708782e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46797132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.955336194999994 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:53.04, Y:-0.63, Z:-0.07 [[ 9.99850057e-01 -1.73165444e-02 0.00000000e+00 5.30387878e+01] [ 1.73165444e-02 9.99850057e-01 0.00000000e+00 -6.28834085e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.24037093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.985336194999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:53.07, Y:-0.64, Z:-0.07 [[ 9.99849247e-01 -1.73632891e-02 0.00000000e+00 5.30705184e+01] [ 1.73632891e-02 9.99849247e-01 0.00000000e+00 -6.35420735e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.03606394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.015336194999996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.10, Y:-0.64, Z:-0.07 [[ 9.99886968e-01 -1.50350317e-02 0.00000000e+00 5.31004928e+01] [ 1.50350317e-02 9.99886968e-01 0.00000000e+00 -6.41353758e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.97194050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.045336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:53.13, Y:-0.64, Z:-0.07 [[ 9.99910734e-01 -1.33612884e-02 0.00000000e+00 5.31330410e+01] [ 1.33612884e-02 9.99910734e-01 0.00000000e+00 -6.42492591e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.84411599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.075336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:53.16, Y:-0.64, Z:-0.07 [[ 9.99935433e-01 -1.13635381e-02 0.00000000e+00 5.31642358e+01] [ 1.13635381e-02 9.99935433e-01 0.00000000e+00 -6.41137212e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.86565078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.105336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:53.19, Y:-0.64, Z:-0.07 [[ 9.99982325e-01 -5.94559424e-03 0.00000000e+00 5.31945604e+01] [ 5.94559424e-03 9.99982325e-01 0.00000000e+00 -6.35222153e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.44996916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.135336194999994 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:53.23, Y:-0.63, Z:-0.07 [[ 9.99995550e-01 -2.98338281e-03 0.00000000e+00 5.32265117e+01] [ 2.98338281e-03 9.99995550e-01 0.00000000e+00 -6.34528578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.41458807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.165336194999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:53.26, Y:-0.64, Z:-0.09 [[ 9.99999591e-01 -9.04704857e-04 0.00000000e+00 5.32576885e+01] [ 9.04704857e-04 9.99999591e-01 0.00000000e+00 -6.38196421e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.60124524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.195336194999996 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:53.29, Y:-0.64, Z:-0.08 [[ 9.99999430e-01 -1.06738799e-03 0.00000000e+00 5.32891130e+01] [ 1.06738799e-03 9.99999430e-01 0.00000000e+00 -6.40042356e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.30907880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.225336195 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:53.32, Y:-0.64, Z:-0.09 [[ 9.99992409e-01 -3.89632255e-03 0.00000000e+00 5.33191751e+01] [ 3.89632255e-03 9.99992409e-01 0.00000000e+00 -6.37108345e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55934689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.255336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:53.35, Y:-0.63, Z:-0.08 [[ 9.99974817e-01 -7.09689030e-03 0.00000000e+00 5.33520216e+01] [ 7.09689030e-03 9.99974817e-01 0.00000000e+00 -6.28512045e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.69321477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.285336195 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:53.38, Y:-0.63, Z:-0.07 [[ 9.99968012e-01 -7.99839738e-03 0.00000000e+00 5.33847759e+01] [ 7.99839738e-03 9.99968012e-01 0.00000000e+00 -6.26400823e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.40578447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31533619499999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:53.42, Y:-0.63, Z:-0.08 [[ 9.99939868e-01 -1.09662952e-02 0.00000000e+00 5.34160868e+01] [ 1.09662952e-02 9.99939868e-01 0.00000000e+00 -6.31364213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.40636359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.345336194999994 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:53.45, Y:-0.64, Z:-0.09 [[ 9.99916198e-01 -1.29459328e-02 0.00000000e+00 5.34478974e+01] [ 1.29459328e-02 9.99916198e-01 0.00000000e+00 -6.37301792e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.60366380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.375336194999996 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:53.48, Y:-0.64, Z:-0.09 [[ 9.99891313e-01 -1.47432161e-02 0.00000000e+00 5.34789448e+01] [ 1.47432161e-02 9.99891313e-01 0.00000000e+00 -6.42695439e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.46415165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.405336195 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:53.51, Y:-0.64, Z:-0.09 [[ 9.99875519e-01 -1.57780231e-02 0.00000000e+00 5.35108274e+01] [ 1.57780231e-02 9.99875519e-01 0.00000000e+00 -6.43413304e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.13890721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.435336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.54, Y:-0.64, Z:-0.08 [[ 9.99887677e-01 -1.49877707e-02 0.00000000e+00 5.35429137e+01] [ 1.49877707e-02 9.99887677e-01 0.00000000e+00 -6.39514718e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.09248404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.465336195 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:53.57, Y:-0.64, Z:-0.08 [[ 9.99917343e-01 -1.28571607e-02 0.00000000e+00 5.35743603e+01] [ 1.28571607e-02 9.99917343e-01 0.00000000e+00 -6.35339698e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.99583884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49533619499999 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:53.60, Y:-0.64, Z:-0.10 [[ 9.99946982e-01 -1.02972523e-02 0.00000000e+00 5.36046256e+01] [ 1.02972523e-02 9.99946982e-01 0.00000000e+00 -6.43026646e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.68001437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.525336194999994 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:53.64, Y:-0.65, Z:-0.10 [[ 9.99955923e-01 -9.38895474e-03 0.00000000e+00 5.36369321e+01] [ 9.38895474e-03 9.99955923e-01 0.00000000e+00 -6.46617346e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.84291460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.555336194999995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:53.67, Y:-0.65, Z:-0.10 [[ 9.99963070e-01 -8.59405339e-03 0.00000000e+00 5.36693600e+01] [ 8.59405339e-03 9.99963070e-01 0.00000000e+00 -6.48027234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.74549652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.585336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:53.70, Y:-0.64, Z:-0.09 [[ 9.99970933e-01 -7.62448347e-03 0.00000000e+00 5.37000059e+01] [ 7.62448347e-03 9.99970933e-01 0.00000000e+00 -6.44893671e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.09040432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.615336195 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:53.73, Y:-0.64, Z:-0.09 [[ 9.99972311e-01 -7.44159346e-03 0.00000000e+00 5.37324025e+01] [ 7.44159346e-03 9.99972311e-01 0.00000000e+00 -6.44612464e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.56990670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.645336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:53.76, Y:-0.65, Z:-0.09 [[ 9.99973054e-01 -7.34110653e-03 0.00000000e+00 5.37631696e+01] [ 7.34110653e-03 9.99973054e-01 0.00000000e+00 -6.46458745e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.70991374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.79, Y:-0.65, Z:-0.08 [[ 9.99985520e-01 -5.38135887e-03 0.00000000e+00 5.37949961e+01] [ 5.38135887e-03 9.99985520e-01 0.00000000e+00 -6.45982922e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.72746557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.705336194999994 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:53.83, Y:-0.65, Z:-0.08 [[ 9.99991230e-01 -4.18816349e-03 0.00000000e+00 5.38257211e+01] [ 4.18816349e-03 9.99991230e-01 0.00000000e+00 -6.45904749e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.48267130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.735336194999995 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:53.86, Y:-0.65, Z:-0.08 [[ 9.99999869e-01 -5.11776834e-04 0.00000000e+00 5.38573421e+01] [ 5.11776834e-04 9.99999869e-01 0.00000000e+00 -6.53778298e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.44358035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.765336194999996 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:53.89, Y:-0.66, Z:-0.09 [[ 9.99998750e-01 1.58090517e-03 0.00000000e+00 5.38880928e+01] [-1.58090517e-03 9.99998750e-01 0.00000000e+00 -6.59287123e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.64009403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.92, Y:-0.66, Z:-0.09 [[ 9.99981129e-01 6.14347935e-03 0.00000000e+00 5.39163581e+01] [-6.14347935e-03 9.99981129e-01 0.00000000e+00 -6.59513918e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.25799914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.825336195 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:53.95, Y:-0.66, Z:-0.09 [[ 9.99971503e-01 7.54939396e-03 0.00000000e+00 5.39452607e+01] [-7.54939396e-03 9.99971503e-01 0.00000000e+00 -6.56481422e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.06994045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.855336195 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:53.98, Y:-0.65, Z:-0.09 [[ 9.99968089e-01 7.98882821e-03 0.00000000e+00 5.39755430e+01] [-7.98882821e-03 9.99968089e-01 0.00000000e+00 -6.52355247e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.58649394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.885336194999994 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:54.00, Y:-0.65, Z:-0.09 [[ 9.99978749e-01 6.51936810e-03 0.00000000e+00 5.40033983e+01] [-6.51936810e-03 9.99978749e-01 0.00000000e+00 -6.51966379e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79220622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.915336194999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.03, Y:-0.66, Z:-0.09 [[ 9.99999539e-01 9.60285019e-04 0.00000000e+00 5.40314460e+01] [-9.60285019e-04 9.99999539e-01 0.00000000e+00 -6.57407512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.91796194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.945336194999996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:54.06, Y:-0.66, Z:-0.09 [[ 9.99997595e-01 -2.19296033e-03 0.00000000e+00 5.40612994e+01] [ 2.19296033e-03 9.99997595e-01 0.00000000e+00 -6.64429909e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79140892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.975336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.09, Y:-0.68, Z:-0.10 [[ 9.99974368e-01 -7.15980660e-03 0.00000000e+00 5.40919551e+01] [ 7.15980660e-03 9.99974368e-01 0.00000000e+00 -6.75116677e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.78498889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.005336195 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:54.12, Y:-0.68, Z:-0.09 [[ 9.99958417e-01 -9.11949038e-03 0.00000000e+00 5.41237632e+01] [ 9.11949038e-03 9.99958417e-01 0.00000000e+00 -6.75985666e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.60544716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.035336195 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:54.16, Y:-0.68, Z:-0.07 [[ 9.99940568e-01 -1.09023193e-02 0.00000000e+00 5.41552122e+01] [ 1.09023193e-02 9.99940568e-01 0.00000000e+00 -6.76307215e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.49799031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06533619499999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:54.19, Y:-0.68, Z:-0.07 [[ 9.99946671e-01 -1.03273588e-02 0.00000000e+00 5.41875224e+01] [ 1.03273588e-02 9.99946671e-01 0.00000000e+00 -6.78782836e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.22809559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.095336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.22, Y:-0.69, Z:-0.07 [[ 9.99954692e-01 -9.51914952e-03 0.00000000e+00 5.42176806e+01] [ 9.51914952e-03 9.99954692e-01 0.00000000e+00 -6.87653442e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.27816614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.125336194999996 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:54.25, Y:-0.69, Z:-0.07 [[ 9.99967773e-01 -8.02832177e-03 0.00000000e+00 5.42490270e+01] [ 8.02832177e-03 9.99967773e-01 0.00000000e+00 -6.89704288e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.70297293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.155336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:54.28, Y:-0.69, Z:-0.06 [[ 9.99988117e-01 -4.87495440e-03 0.00000000e+00 5.42800146e+01] [ 4.87495440e-03 9.99988117e-01 0.00000000e+00 -6.87174562e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.41250882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.185336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.31, Y:-0.69, Z:-0.06 [[ 9.99992347e-01 -3.91235649e-03 0.00000000e+00 5.43116310e+01] [ 3.91235649e-03 9.99992347e-01 0.00000000e+00 -6.87728042e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.17658483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.215336195 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:54.34, Y:-0.70, Z:-0.06 [[ 9.99992138e-01 -3.96523628e-03 0.00000000e+00 5.43432909e+01] [ 3.96523628e-03 9.99992138e-01 0.00000000e+00 -6.95310663e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.41525372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24533619499999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:54.37, Y:-0.70, Z:-0.08 [[ 9.99992955e-01 -3.75364939e-03 0.00000000e+00 5.43743170e+01] [ 3.75364939e-03 9.99992955e-01 0.00000000e+00 -7.00037472e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.66210808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.275336194999994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:54.41, Y:-0.70, Z:-0.08 [[ 9.99993115e-01 -3.71087108e-03 0.00000000e+00 5.44070024e+01] [ 3.71087108e-03 9.99993115e-01 0.00000000e+00 -7.00544453e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.66210808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.305336194999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.44, Y:-0.71, Z:-0.08 [[ 9.99997702e-01 -2.14385899e-03 0.00000000e+00 5.44380508e+01] [ 2.14385899e-03 9.99997702e-01 0.00000000e+00 -7.05745290e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.72787874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.335336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:54.47, Y:-0.71, Z:-0.07 [[ 9.99998858e-01 -1.51118446e-03 0.00000000e+00 5.44695754e+01] [ 1.51118446e-03 9.99998858e-01 0.00000000e+00 -7.05315199e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25925771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.365336195 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:54.50, Y:-0.70, Z:-0.06 [[ 9.99999532e-01 -9.67690505e-04 0.00000000e+00 5.45006951e+01] [ 9.67690505e-04 9.99999532e-01 0.00000000e+00 -7.00167640e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49025513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.395336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.53, Y:-0.70, Z:-0.06 [[ 9.99999574e-01 -9.23331089e-04 0.00000000e+00 5.45323259e+01] [ 9.23331089e-04 9.99999574e-01 0.00000000e+00 -7.01471302e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.24739742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42533619499999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:54.56, Y:-0.71, Z:-0.07 [[ 9.99997159e-01 -2.38381059e-03 0.00000000e+00 5.45626720e+01] [ 2.38381059e-03 9.99997159e-01 0.00000000e+00 -7.06999764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.72993128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.455336194999994 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:54.59, Y:-0.71, Z:-0.07 [[ 9.99992806e-01 -3.79308736e-03 0.00000000e+00 5.45948580e+01] [ 3.79308736e-03 9.99992806e-01 0.00000000e+00 -7.10028223e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.61993867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.485336194999995 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:54.63, Y:-0.71, Z:-0.06 [[ 9.99970641e-01 -7.66273330e-03 0.00000000e+00 5.46269935e+01] [ 7.66273330e-03 9.99970641e-01 0.00000000e+00 -7.12438356e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47829316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.515336194999996 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:54.66, Y:-0.71, Z:-0.07 [[ 9.99955501e-01 -9.43379920e-03 0.00000000e+00 5.46579393e+01] [ 9.43379920e-03 9.99955501e-01 0.00000000e+00 -7.14949781e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.85811162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.545336195 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:54.69, Y:-0.72, Z:-0.07 [[ 9.99935064e-01 -1.13959439e-02 0.00000000e+00 5.46898463e+01] [ 1.13959439e-02 9.99935064e-01 0.00000000e+00 -7.23791286e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.09471867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.575336195 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:54.72, Y:-0.73, Z:-0.07 [[ 9.99945988e-01 -1.03932785e-02 0.00000000e+00 5.47215231e+01] [ 1.03932785e-02 9.99945988e-01 0.00000000e+00 -7.27381499e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.15288472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.605336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:54.75, Y:-0.73, Z:-0.07 [[ 9.99964082e-01 -8.47558563e-03 0.00000000e+00 5.47524447e+01] [ 8.47558563e-03 9.99964082e-01 0.00000000e+00 -7.28989361e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16228182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.635336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:54.78, Y:-0.73, Z:-0.07 [[ 9.99990108e-01 -4.44791288e-03 0.00000000e+00 5.47836487e+01] [ 4.44791288e-03 9.99990108e-01 0.00000000e+00 -7.32950212e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05784590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.665336194999995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:54.82, Y:-0.74, Z:-0.07 [[ 9.99996906e-01 -2.48758326e-03 0.00000000e+00 5.48150253e+01] [ 2.48758326e-03 9.99996906e-01 0.00000000e+00 -7.35118067e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11339796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.695336194999996 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:54.85, Y:-0.74, Z:-0.07 [[ 1.00000000e+00 1.21367112e-06 0.00000000e+00 5.48468869e+01] [-1.21367112e-06 1.00000000e+00 0.00000000e+00 -7.35249846e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.83007770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.725336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:54.88, Y:-0.73, Z:-0.06 [[ 9.99992031e-01 3.99235531e-03 0.00000000e+00 5.48769134e+01] [-3.99235531e-03 9.99992031e-01 0.00000000e+00 -7.32914976e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.08522436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.755336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.90, Y:-0.74, Z:-0.06 [[ 9.99974558e-01 7.13321559e-03 0.00000000e+00 5.49045943e+01] [-7.13321559e-03 9.99974558e-01 0.00000000e+00 -7.38000808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47195071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.785336195 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:54.93, Y:-0.74, Z:-0.06 [[ 9.99963763e-01 8.51306395e-03 0.00000000e+00 5.49325373e+01] [-8.51306395e-03 9.99963763e-01 0.00000000e+00 -7.39660229e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.23445780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81533619499999 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:54.96, Y:-0.74, Z:-0.06 [[ 9.99952482e-01 9.74851433e-03 0.00000000e+00 5.49605523e+01] [-9.74851433e-03 9.99952482e-01 0.00000000e+00 -7.39929385e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49069037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.845336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.99, Y:-0.74, Z:-0.06 [[ 9.99945531e-01 1.04372348e-02 0.00000000e+00 5.49894122e+01] [-1.04372348e-02 9.99945531e-01 0.00000000e+00 -7.41292127e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10886926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.875336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.02, Y:-0.74, Z:-0.07 [[ 9.99952840e-01 9.71169653e-03 0.00000000e+00 5.50181369e+01] [-9.71169653e-03 9.99952840e-01 0.00000000e+00 -7.44970889e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00248868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.905336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.05, Y:-0.75, Z:-0.07 [[ 9.99955854e-01 9.39628358e-03 0.00000000e+00 5.50465718e+01] [-9.39628358e-03 9.99955854e-01 0.00000000e+00 -7.45877402e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.73454297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.935336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:55.07, Y:-0.75, Z:-0.07 [[ 9.99949662e-01 1.00336381e-02 0.00000000e+00 5.50744635e+01] [-1.00336381e-02 9.99949662e-01 0.00000000e+00 -7.46399660e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.83699306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.965336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:55.10, Y:-0.75, Z:-0.06 [[ 9.99936732e-01 1.12486441e-02 0.00000000e+00 5.51030349e+01] [-1.12486441e-02 9.99936732e-01 0.00000000e+00 -7.47109557e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37358211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.13, Y:-0.74, Z:-0.06 [[ 9.99892488e-01 1.46632927e-02 0.00000000e+00 5.51312503e+01] [-1.46632927e-02 9.99892488e-01 0.00000000e+00 -7.42500134e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.07917355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.025336194999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.16, Y:-0.74, Z:-0.06 [[ 9.99872699e-01 1.59557360e-02 0.00000000e+00 5.51594091e+01] [-1.59557360e-02 9.99872699e-01 0.00000000e+00 -7.40129558e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.25720225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.055336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.19, Y:-0.74, Z:-0.06 [[ 9.99845465e-01 1.75796880e-02 0.00000000e+00 5.51885078e+01] [-1.75796880e-02 9.99845465e-01 0.00000000e+00 -7.41038336e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.33844344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.085336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.22, Y:-0.74, Z:-0.07 [[ 9.99834176e-01 1.82104582e-02 0.00000000e+00 5.52165186e+01] [-1.82104582e-02 9.99834176e-01 0.00000000e+00 -7.42163872e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63387793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.115336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:55.25, Y:-0.74, Z:-0.06 [[ 9.99826080e-01 1.86496672e-02 0.00000000e+00 5.52456807e+01] [-1.86496672e-02 9.99826080e-01 0.00000000e+00 -7.42130703e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.38913365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.27, Y:-0.74, Z:-0.06 [[ 9.99856589e-01 1.69351924e-02 0.00000000e+00 5.52737581e+01] [-1.69351924e-02 9.99856589e-01 0.00000000e+00 -7.39223028e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49873462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17533619499999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:55.30, Y:-0.74, Z:-0.06 [[ 9.99874630e-01 1.58342907e-02 0.00000000e+00 5.53027395e+01] [-1.58342907e-02 9.99874630e-01 0.00000000e+00 -7.37950957e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.45606204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.205336194999994 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:55.33, Y:-0.74, Z:-0.06 [[ 9.99916334e-01 1.29354452e-02 0.00000000e+00 5.53311312e+01] [-1.29354452e-02 9.99916334e-01 0.00000000e+00 -7.35555343e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.14790689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.235336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.36, Y:-0.73, Z:-0.06 [[ 9.99940368e-01 1.09206779e-02 0.00000000e+00 5.53587192e+01] [-1.09206779e-02 9.99940368e-01 0.00000000e+00 -7.34583289e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.36838532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.265336194999996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.39, Y:-0.73, Z:-0.06 [[ 9.99957967e-01 9.16868170e-03 0.00000000e+00 5.53872336e+01] [-9.16868170e-03 9.99957967e-01 0.00000000e+00 -7.34101508e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.31264671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.41, Y:-0.74, Z:-0.07 [[ 9.99971665e-01 7.52790897e-03 0.00000000e+00 5.54149687e+01] [-7.52790897e-03 9.99971665e-01 0.00000000e+00 -7.36932830e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.06780914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.325336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:55.44, Y:-0.74, Z:-0.07 [[ 9.99974556e-01 7.13346817e-03 0.00000000e+00 5.54440716e+01] [-7.13346817e-03 9.99974556e-01 0.00000000e+00 -7.39727668e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.35480711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.355336195 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:55.47, Y:-0.74, Z:-0.07 [[ 9.99970119e-01 7.73058940e-03 0.00000000e+00 5.54734315e+01] [-7.73058940e-03 9.99970119e-01 0.00000000e+00 -7.37873291e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.26279591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.385336194999994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.50, Y:-0.74, Z:-0.07 [[ 9.99968196e-01 7.97542290e-03 0.00000000e+00 5.55014834e+01] [-7.97542290e-03 9.99968196e-01 0.00000000e+00 -7.37216610e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38772988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.415336194999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:55.53, Y:-0.74, Z:-0.07 [[ 9.99971813e-01 7.50827401e-03 0.00000000e+00 5.55300590e+01] [-7.50827401e-03 9.99971813e-01 0.00000000e+00 -7.38630525e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14146508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.445336194999996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:55.56, Y:-0.74, Z:-0.07 [[ 9.99969277e-01 7.83873318e-03 0.00000000e+00 5.55574601e+01] [-7.83873318e-03 9.99969277e-01 0.00000000e+00 -7.41842807e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42892002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.59, Y:-0.74, Z:-0.07 [[ 9.99959930e-01 8.95201141e-03 0.00000000e+00 5.55860620e+01] [-8.95201141e-03 9.99959930e-01 0.00000000e+00 -7.41151800e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01945567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.505336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:55.61, Y:-0.74, Z:-0.07 [[ 9.99939996e-01 1.09546286e-02 0.00000000e+00 5.56142329e+01] [-1.09546286e-02 9.99939996e-01 0.00000000e+00 -7.40502199e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30814850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.535336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:55.64, Y:-0.74, Z:-0.07 [[ 9.99927459e-01 1.20447828e-02 0.00000000e+00 5.56418990e+01] [-1.20447828e-02 9.99927459e-01 0.00000000e+00 -7.39696227e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.34337600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.67, Y:-0.73, Z:-0.07 [[ 9.99883251e-01 1.52802051e-02 0.00000000e+00 5.56700524e+01] [-1.52802051e-02 9.99883251e-01 0.00000000e+00 -7.34790143e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00744780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.595336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:55.70, Y:-0.73, Z:-0.07 [[ 9.99870136e-01 1.61155523e-02 0.00000000e+00 5.56988158e+01] [-1.61155523e-02 9.99870136e-01 0.00000000e+00 -7.33065282e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.58044598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.625336194999996 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:55.73, Y:-0.73, Z:-0.07 [[ 9.99872006e-01 1.59991361e-02 0.00000000e+00 5.57261733e+01] [-1.59991361e-02 9.99872006e-01 0.00000000e+00 -7.33127924e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60594717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.655336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.75, Y:-0.73, Z:-0.07 [[ 9.99884051e-01 1.52277294e-02 0.00000000e+00 5.57541314e+01] [-1.52277294e-02 9.99884051e-01 0.00000000e+00 -7.32607348e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.67038599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.685336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:55.78, Y:-0.74, Z:-0.07 [[ 9.99914986e-01 1.30392359e-02 0.00000000e+00 5.57829958e+01] [-1.30392359e-02 9.99914986e-01 0.00000000e+00 -7.35667543e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04859852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.715336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:55.81, Y:-0.74, Z:-0.07 [[ 9.99932448e-01 1.16232430e-02 0.00000000e+00 5.58118547e+01] [-1.16232430e-02 9.99932448e-01 0.00000000e+00 -7.36340747e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.94907114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:55.84, Y:-0.73, Z:-0.07 [[ 9.99943588e-01 1.06217584e-02 0.00000000e+00 5.58404878e+01] [-1.06217584e-02 9.99943588e-01 0.00000000e+00 -7.32128421e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60685385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.775336194999994 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:55.87, Y:-0.72, Z:-0.06 [[ 9.99973331e-01 7.30327810e-03 0.00000000e+00 5.58688302e+01] [-7.30327810e-03 9.99973331e-01 0.00000000e+00 -7.20646936e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.30631943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.805336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.90, Y:-0.72, Z:-0.07 [[ 9.99990734e-01 4.30486051e-03 0.00000000e+00 5.58969122e+01] [-4.30486051e-03 9.99990734e-01 0.00000000e+00 -7.20393680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81530833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.835336195 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:55.93, Y:-0.72, Z:-0.07 [[ 9.99998754e-01 -1.57843403e-03 0.00000000e+00 5.59266603e+01] [ 1.57843403e-03 9.99998754e-01 0.00000000e+00 -7.22964941e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.15358714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.865336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:55.96, Y:-0.72, Z:-0.07 [[ 9.99992812e-01 -3.79155819e-03 0.00000000e+00 5.59582049e+01] [ 3.79155819e-03 9.99992812e-01 0.00000000e+00 -7.21934245e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.20411052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.895336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:55.99, Y:-0.72, Z:-0.07 [[ 9.99984423e-01 -5.58152404e-03 0.00000000e+00 5.59914888e+01] [ 5.58152404e-03 9.99984423e-01 0.00000000e+00 -7.19606906e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81293351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92533619499999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:56.02, Y:-0.71, Z:-0.07 [[ 9.99969840e-01 -7.76650141e-03 0.00000000e+00 5.60223742e+01] [ 7.76650141e-03 9.99969840e-01 0.00000000e+00 -7.14874097e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08101998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.955336194999994 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:56.05, Y:-0.72, Z:-0.07 [[ 9.99973905e-01 -7.22420328e-03 0.00000000e+00 5.60542431e+01] [ 7.22420328e-03 9.99973905e-01 0.00000000e+00 -7.15543018e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.33643158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.985336194999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:56.09, Y:-0.72, Z:-0.08 [[ 9.99975810e-01 -6.95553613e-03 0.00000000e+00 5.60856180e+01] [ 6.95553613e-03 9.99975810e-01 0.00000000e+00 -7.16373378e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.89211036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.015336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.12, Y:-0.72, Z:-0.07 [[ 9.99976186e-01 -6.90126976e-03 0.00000000e+00 5.61178687e+01] [ 6.90126976e-03 9.99976186e-01 0.00000000e+00 -7.16728354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46400024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.045336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:56.15, Y:-0.71, Z:-0.07 [[ 9.99973973e-01 -7.21473769e-03 0.00000000e+00 5.61500247e+01] [ 7.21473769e-03 9.99973973e-01 0.00000000e+00 -7.10919336e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75181508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.075336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.18, Y:-0.71, Z:-0.06 [[ 9.99972260e-01 -7.44847144e-03 0.00000000e+00 5.61822314e+01] [ 7.44847144e-03 9.99972260e-01 0.00000000e+00 -7.09427027e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39277854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.105336195 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:56.21, Y:-0.72, Z:-0.07 [[ 9.99967812e-01 -8.02340156e-03 0.00000000e+00 5.62129691e+01] [ 8.02340156e-03 9.99967812e-01 0.00000000e+00 -7.15346053e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36932400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.135336194999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:56.24, Y:-0.72, Z:-0.07 [[ 9.99975152e-01 -7.04943958e-03 0.00000000e+00 5.62446883e+01] [ 7.04943958e-03 9.99975152e-01 0.00000000e+00 -7.18814559e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.10647987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.165336194999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:56.28, Y:-0.72, Z:-0.07 [[ 9.99975484e-01 -7.00218306e-03 0.00000000e+00 5.62773742e+01] [ 7.00218306e-03 9.99975484e-01 0.00000000e+00 -7.19296025e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.10647987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.195336194999996 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:56.31, Y:-0.72, Z:-0.08 [[ 9.99983852e-01 -5.68296020e-03 0.00000000e+00 5.63083686e+01] [ 5.68296020e-03 9.99983852e-01 0.00000000e+00 -7.19908786e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.59065122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.225336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:56.34, Y:-0.72, Z:-0.07 [[ 9.99994429e-01 -3.33783937e-03 0.00000000e+00 5.63400637e+01] [ 3.33783937e-03 9.99994429e-01 0.00000000e+00 -7.19964444e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36271754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.255336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:56.37, Y:-0.72, Z:-0.08 [[ 9.99999634e-01 -8.55146763e-04 0.00000000e+00 5.63703914e+01] [ 8.55146763e-04 9.99999634e-01 0.00000000e+00 -7.18506480e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.77460767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.285336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:56.40, Y:-0.72, Z:-0.07 [[ 9.99999925e-01 -3.88018902e-04 0.00000000e+00 5.64013654e+01] [ 3.88018902e-04 9.99999925e-01 0.00000000e+00 -7.17076140e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14049509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31533619499999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:56.43, Y:-0.72, Z:-0.08 [[ 9.99999919e-01 -4.01730162e-04 0.00000000e+00 5.64319364e+01] [ 4.01730162e-04 9.99999919e-01 0.00000000e+00 -7.15872225e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.53063212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.345336194999994 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:56.46, Y:-0.72, Z:-0.07 [[ 9.99996505e-01 -2.64375859e-03 0.00000000e+00 5.64624841e+01] [ 2.64375859e-03 9.99996505e-01 0.00000000e+00 -7.17652941e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76802579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.375336194999996 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:56.49, Y:-0.72, Z:-0.07 [[ 9.99992866e-01 -3.77727578e-03 0.00000000e+00 5.64938347e+01] [ 3.77727578e-03 9.99992866e-01 0.00000000e+00 -7.19790500e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01715921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.405336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:56.52, Y:-0.73, Z:-0.08 [[ 9.99974910e-01 -7.08371893e-03 0.00000000e+00 5.65239039e+01] [ 7.08371893e-03 9.99974910e-01 0.00000000e+00 -7.25633583e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.45293078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.435336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.56, Y:-0.73, Z:-0.08 [[ 9.99963292e-01 -8.56819110e-03 0.00000000e+00 5.65565472e+01] [ 8.56819110e-03 9.99963292e-01 0.00000000e+00 -7.28861135e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.70510885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.465336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:56.59, Y:-0.73, Z:-0.07 [[ 9.99953118e-01 -9.68307454e-03 0.00000000e+00 5.65881792e+01] [ 9.68307454e-03 9.99953118e-01 0.00000000e+00 -7.30759551e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16030982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49533619499999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:56.62, Y:-0.73, Z:-0.07 [[ 9.99932805e-01 -1.15924610e-02 0.00000000e+00 5.66201082e+01] [ 1.15924610e-02 9.99932805e-01 0.00000000e+00 -7.31818944e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.61542696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.525336194999994 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:56.65, Y:-0.73, Z:-0.07 [[ 9.99911637e-01 -1.32935053e-02 0.00000000e+00 5.66516557e+01] [ 1.32935053e-02 9.99911637e-01 0.00000000e+00 -7.32512705e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99509250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.555336194999995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.68, Y:-0.73, Z:-0.07 [[ 9.99870363e-01 -1.61014840e-02 0.00000000e+00 5.66838343e+01] [ 1.61014840e-02 9.99870363e-01 0.00000000e+00 -7.33630174e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.50832130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.585336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:56.72, Y:-0.74, Z:-0.07 [[ 9.99863743e-01 -1.65074522e-02 0.00000000e+00 5.67152436e+01] [ 1.65074522e-02 9.99863743e-01 0.00000000e+00 -7.36301733e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.91529727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.615336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:56.75, Y:-0.74, Z:-0.08 [[ 9.99880212e-01 -1.54777609e-02 0.00000000e+00 5.67462136e+01] [ 1.54777609e-02 9.99880212e-01 0.00000000e+00 -7.44372372e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.62359912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.645336195 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:56.78, Y:-0.75, Z:-0.07 [[ 9.99882425e-01 -1.53341797e-02 0.00000000e+00 5.67784315e+01] [ 1.53341797e-02 9.99882425e-01 0.00000000e+00 -7.46159564e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.32394815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.81, Y:-0.74, Z:-0.06 [[ 9.99917671e-01 -1.28316407e-02 0.00000000e+00 5.68108176e+01] [ 1.28316407e-02 9.99917671e-01 0.00000000e+00 -7.43899417e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.44438250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.705336194999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.84, Y:-0.75, Z:-0.07 [[ 9.99935880e-01 -1.13241668e-02 0.00000000e+00 5.68410212e+01] [ 1.13241668e-02 9.99935880e-01 0.00000000e+00 -7.45011960e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16852597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.735336194999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:56.87, Y:-0.75, Z:-0.08 [[ 9.99951809e-01 -9.81728524e-03 0.00000000e+00 5.68722033e+01] [ 9.81728524e-03 9.99951809e-01 0.00000000e+00 -7.47475577e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.57466835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.765336194999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:56.90, Y:-0.75, Z:-0.08 [[ 9.99969962e-01 -7.75079406e-03 0.00000000e+00 5.69031635e+01] [ 7.75079406e-03 9.99969962e-01 0.00000000e+00 -7.47909455e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.80941664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.795336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:56.94, Y:-0.74, Z:-0.07 [[ 9.99971978e-01 -7.48621144e-03 0.00000000e+00 5.69352609e+01] [ 7.48621144e-03 9.99971978e-01 0.00000000e+00 -7.44958115e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.19744789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.825336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.97, Y:-0.74, Z:-0.07 [[ 9.99960283e-01 -8.91251554e-03 0.00000000e+00 5.69660397e+01] [ 8.91251554e-03 9.99960283e-01 0.00000000e+00 -7.42981178e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46469862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.855336195 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:57.00, Y:-0.74, Z:-0.07 [[ 9.99948779e-01 -1.01212423e-02 0.00000000e+00 5.69984698e+01] [ 1.01212423e-02 9.99948779e-01 0.00000000e+00 -7.44400669e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16439416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.885336194999994 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:57.03, Y:-0.75, Z:-0.07 [[ 9.99905563e-01 -1.37428052e-02 0.00000000e+00 5.70300425e+01] [ 1.37428052e-02 9.99905563e-01 0.00000000e+00 -7.45601834e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.23524230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.915336194999995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:57.06, Y:-0.75, Z:-0.07 [[ 9.99868895e-01 -1.61923381e-02 0.00000000e+00 5.70626967e+01] [ 1.61923381e-02 9.99868895e-01 0.00000000e+00 -7.46135675e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07056428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.945336194999996 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:57.10, Y:-0.75, Z:-0.07 [[ 9.99828919e-01 -1.84968413e-02 0.00000000e+00 5.70954589e+01] [ 1.84968413e-02 9.99828919e-01 0.00000000e+00 -7.47324992e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.18874433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.975336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:57.13, Y:-0.75, Z:-0.07 [[ 9.99710832e-01 -2.40468910e-02 0.00000000e+00 5.71274582e+01] [ 2.40468910e-02 9.99710832e-01 0.00000000e+00 -7.50937421e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.47488717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.005336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:57.16, Y:-0.75, Z:-0.08 [[ 9.99691668e-01 -2.48307895e-02 0.00000000e+00 5.71589557e+01] [ 2.48307895e-02 9.99691668e-01 0.00000000e+00 -7.52850669e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.87035361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.035336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.19, Y:-0.75, Z:-0.08 [[ 9.99676298e-01 -2.54420762e-02 0.00000000e+00 5.71895586e+01] [ 2.54420762e-02 9.99676298e-01 0.00000000e+00 -7.54339173e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.23220263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06533619499999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:57.22, Y:-0.76, Z:-0.08 [[ 9.99703332e-01 -2.43566689e-02 0.00000000e+00 5.72208284e+01] [ 2.43566689e-02 9.99703332e-01 0.00000000e+00 -7.55026633e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29974540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.095336194999994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:57.25, Y:-0.76, Z:-0.09 [[ 9.99733810e-01 -2.30718271e-02 0.00000000e+00 5.72525903e+01] [ 2.30718271e-02 9.99733810e-01 0.00000000e+00 -7.55737979e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.69166463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.125336194999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:57.29, Y:-0.76, Z:-0.08 [[ 9.99799903e-01 -2.00038308e-02 0.00000000e+00 5.72851417e+01] [ 2.00038308e-02 9.99799903e-01 0.00000000e+00 -7.59343925e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21679824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.155336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:57.32, Y:-0.76, Z:-0.09 [[ 9.99832312e-01 -1.83125296e-02 0.00000000e+00 5.73164270e+01] [ 1.83125296e-02 9.99832312e-01 0.00000000e+00 -7.61949952e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.51000322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.185336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:57.35, Y:-0.76, Z:-0.07 [[ 9.99898266e-01 -1.42638540e-02 0.00000000e+00 5.73482808e+01] [ 1.42638540e-02 9.99898266e-01 0.00000000e+00 -7.61695264e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.39885445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.215336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.38, Y:-0.76, Z:-0.08 [[ 9.99915455e-01 -1.30031607e-02 0.00000000e+00 5.73795485e+01] [ 1.30031607e-02 9.99915455e-01 0.00000000e+00 -7.62286541e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.50443963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24533619499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:57.41, Y:-0.76, Z:-0.08 [[ 9.99933786e-01 -1.15075478e-02 0.00000000e+00 5.74109666e+01] [ 1.15075478e-02 9.99933786e-01 0.00000000e+00 -7.64467695e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.35702079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.275336194999994 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:57.44, Y:-0.77, Z:-0.08 [[ 9.99938525e-01 -1.10881498e-02 0.00000000e+00 5.74427293e+01] [ 1.10881498e-02 9.99938525e-01 0.00000000e+00 -7.66813414e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.16157171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.305336194999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:57.47, Y:-0.77, Z:-0.07 [[ 9.99935819e-01 -1.13295528e-02 0.00000000e+00 5.74734099e+01] [ 1.13295528e-02 9.99935819e-01 0.00000000e+00 -7.72112998e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.44100441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.335336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:57.50, Y:-0.77, Z:-0.08 [[ 9.99932583e-01 -1.16115902e-02 0.00000000e+00 5.75048114e+01] [ 1.16115902e-02 9.99932583e-01 0.00000000e+00 -7.73400052e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.89301361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.365336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.54, Y:-0.77, Z:-0.08 [[ 9.99907255e-01 -1.36191457e-02 0.00000000e+00 5.75358581e+01] [ 1.36191457e-02 9.99907255e-01 0.00000000e+00 -7.74808344e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.28967565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.395336195 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:57.57, Y:-0.78, Z:-0.08 [[ 9.99883995e-01 -1.52314236e-02 0.00000000e+00 5.75668565e+01] [ 1.52314236e-02 9.99883995e-01 0.00000000e+00 -7.77194283e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.44447103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42533619499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:57.60, Y:-0.78, Z:-0.09 [[ 9.99805260e-01 -1.97342860e-02 0.00000000e+00 5.75984959e+01] [ 1.97342860e-02 9.99805260e-01 0.00000000e+00 -7.81313759e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.72200821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.455336194999994 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:57.63, Y:-0.79, Z:-0.08 [[ 9.99759926e-01 -2.19109567e-02 0.00000000e+00 5.76301658e+01] [ 2.19109567e-02 9.99759926e-01 0.00000000e+00 -7.85210156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.19471007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.485336194999995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:57.66, Y:-0.79, Z:-0.09 [[ 9.99709966e-01 -2.40828719e-02 0.00000000e+00 5.76611059e+01] [ 2.40828719e-02 9.99709966e-01 0.00000000e+00 -7.89751843e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.69862382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.515336194999996 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:57.69, Y:-0.80, Z:-0.09 [[ 9.99650990e-01 -2.64177701e-02 0.00000000e+00 5.76927239e+01] [ 2.64177701e-02 9.99650990e-01 0.00000000e+00 -7.95613830e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.90812519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.545336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:57.72, Y:-0.80, Z:-0.09 [[ 9.99609169e-01 -2.79554828e-02 0.00000000e+00 5.77233308e+01] [ 2.79554828e-02 9.99609169e-01 0.00000000e+00 -7.96562627e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.31824101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.575336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.75, Y:-0.81, Z:-0.10 [[ 9.99598373e-01 -2.83389033e-02 0.00000000e+00 5.77536239e+01] [ 2.83389033e-02 9.99598373e-01 0.00000000e+00 -8.05930686e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.83200529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60533619499999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:57.79, Y:-0.81, Z:-0.10 [[ 9.99597478e-01 -2.83704568e-02 0.00000000e+00 5.77854066e+01] [ 2.83704568e-02 9.99597478e-01 0.00000000e+00 -8.09414230e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.69216604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.635336194999994 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:57.82, Y:-0.81, Z:-0.10 [[ 9.99665360e-01 -2.58682877e-02 0.00000000e+00 5.78159739e+01] [ 2.58682877e-02 9.99665360e-01 0.00000000e+00 -8.13425268e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.98984192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.665336194999995 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:57.85, Y:-0.82, Z:-0.09 [[ 9.99724593e-01 -2.34678136e-02 0.00000000e+00 5.78476188e+01] [ 2.34678136e-02 9.99724593e-01 0.00000000e+00 -8.16215606e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.27837584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.695336194999996 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:57.88, Y:-0.82, Z:-0.09 [[ 9.99852364e-01 -1.71828619e-02 0.00000000e+00 5.78773841e+01] [ 1.71828619e-02 9.99852364e-01 0.00000000e+00 -8.19378720e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.19769727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.725336195 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:57.91, Y:-0.82, Z:-0.09 [[ 9.99894121e-01 -1.45515154e-02 0.00000000e+00 5.79094700e+01] [ 1.45515154e-02 9.99894121e-01 0.00000000e+00 -8.20716269e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.08766420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.755336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:57.94, Y:-0.82, Z:-0.09 [[ 9.99927393e-01 -1.20502993e-02 0.00000000e+00 5.79397460e+01] [ 1.20502993e-02 9.99927393e-01 0.00000000e+00 -8.23558524e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.37774791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.785336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:57.97, Y:-0.83, Z:-0.09 [[ 9.99965631e-01 -8.29080385e-03 0.00000000e+00 5.79706825e+01] [ 8.29080385e-03 9.99965631e-01 0.00000000e+00 -8.25221881e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.59291934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81533619499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:58.00, Y:-0.82, Z:-0.08 [[ 9.99975732e-01 -6.96672691e-03 0.00000000e+00 5.80019684e+01] [ 6.96672691e-03 9.99975732e-01 0.00000000e+00 -8.21892462e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.27814243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.845336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:58.03, Y:-0.82, Z:-0.08 [[ 9.99971887e-01 -7.49834129e-03 0.00000000e+00 5.80336825e+01] [ 7.49834129e-03 9.99971887e-01 0.00000000e+00 -8.21733431e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.54451636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.875336194999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.07, Y:-0.82, Z:-0.08 [[ 9.99965292e-01 -8.33153532e-03 0.00000000e+00 5.80651454e+01] [ 8.33153532e-03 9.99965292e-01 0.00000000e+00 -8.22121104e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61183885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.905336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.10, Y:-0.82, Z:-0.08 [[ 9.99938120e-01 -1.11245467e-02 0.00000000e+00 5.80950386e+01] [ 1.11245467e-02 9.99938120e-01 0.00000000e+00 -8.18722812e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.92786695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.935336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.13, Y:-0.82, Z:-0.08 [[ 9.99919631e-01 -1.26779877e-02 0.00000000e+00 5.81271092e+01] [ 1.26779877e-02 9.99919631e-01 0.00000000e+00 -8.16234397e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.93635751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.965336195 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:58.16, Y:-0.82, Z:-0.08 [[ 9.99879660e-01 -1.55133934e-02 0.00000000e+00 5.81593276e+01] [ 1.55133934e-02 9.99879660e-01 0.00000000e+00 -8.20138788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.32234378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99533619499999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:58.19, Y:-0.83, Z:-0.09 [[ 9.99866521e-01 -1.63382887e-02 0.00000000e+00 5.81917824e+01] [ 1.63382887e-02 9.99866521e-01 0.00000000e+00 -8.27505002e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.95337559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.025336194999994 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:58.22, Y:-0.83, Z:-0.10 [[ 9.99856397e-01 -1.69465424e-02 0.00000000e+00 5.82227883e+01] [ 1.69465424e-02 9.99856397e-01 0.00000000e+00 -8.34604552e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.83126230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.055336194999995 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:58.25, Y:-0.84, Z:-0.09 [[ 9.99886866e-01 -1.50417951e-02 0.00000000e+00 5.82533159e+01] [ 1.50417951e-02 9.99886866e-01 0.00000000e+00 -8.41089833e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.29899620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.085336195 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:58.29, Y:-0.84, Z:-0.09 [[ 9.99887899e-01 -1.49729630e-02 0.00000000e+00 5.82868318e+01] [ 1.49729630e-02 9.99887899e-01 0.00000000e+00 -8.41725782e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.29899620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.32, Y:-0.84, Z:-0.09 [[ 9.99908825e-01 -1.35034162e-02 0.00000000e+00 5.83181542e+01] [ 1.35034162e-02 9.99908825e-01 0.00000000e+00 -8.39425481e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.81798670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.145336195 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:58.35, Y:-0.83, Z:-0.08 [[ 9.99954785e-01 -9.50934610e-03 0.00000000e+00 5.83503746e+01] [ 9.50934610e-03 9.99954785e-01 0.00000000e+00 -8.32176376e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.75594811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17533619499999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:58.38, Y:-0.83, Z:-0.08 [[ 9.99976662e-01 -6.83192201e-03 0.00000000e+00 5.83824510e+01] [ 6.83192201e-03 9.99976662e-01 0.00000000e+00 -8.33534108e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52778040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.205336194999994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:58.41, Y:-0.84, Z:-0.09 [[ 9.99999993e-01 1.15027470e-04 0.00000000e+00 5.84129135e+01] [-1.15027470e-04 9.99999993e-01 0.00000000e+00 -8.39244877e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.00546419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.235336194999995 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:58.44, Y:-0.84, Z:-0.09 [[ 9.99993829e-01 3.51300022e-03 0.00000000e+00 5.84435561e+01] [-3.51300022e-03 9.99993829e-01 0.00000000e+00 -8.43139839e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.58303312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.265336194999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:58.47, Y:-0.85, Z:-0.08 [[ 9.99974612e-01 7.12572033e-03 0.00000000e+00 5.84724427e+01] [-7.12572033e-03 9.99974612e-01 0.00000000e+00 -8.53114283e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.17326810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.295336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.50, Y:-0.86, Z:-0.08 [[ 9.99972206e-01 7.45569564e-03 0.00000000e+00 5.85015494e+01] [-7.45569564e-03 9.99972206e-01 0.00000000e+00 -8.55789269e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.69788108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.325336195 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:58.53, Y:-0.86, Z:-0.07 [[ 9.99973123e-01 7.33165521e-03 0.00000000e+00 5.85299399e+01] [-7.33165521e-03 9.99973123e-01 0.00000000e+00 -8.56020912e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.35440357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35533619499999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:58.56, Y:-0.85, Z:-0.07 [[ 9.99976812e-01 6.80998733e-03 0.00000000e+00 5.85586992e+01] [-6.80998733e-03 9.99976812e-01 0.00000000e+00 -8.52838307e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.74766438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.385336194999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.59, Y:-0.85, Z:-0.07 [[ 9.99983181e-01 5.79978107e-03 0.00000000e+00 5.85869376e+01] [-5.79978107e-03 9.99983181e-01 0.00000000e+00 -8.53827224e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.97860854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.415336194999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:58.61, Y:-0.86, Z:-0.08 [[ 9.99994616e-01 3.28149768e-03 0.00000000e+00 5.86142247e+01] [-3.28149768e-03 9.99994616e-01 0.00000000e+00 -8.63912098e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.70711139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.445336194999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:58.64, Y:-0.87, Z:-0.07 [[ 9.99996199e-01 2.75726786e-03 0.00000000e+00 5.86424768e+01] [-2.75726786e-03 9.99996199e-01 0.00000000e+00 -8.68398821e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.39678564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.475336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:58.67, Y:-0.87, Z:-0.08 [[ 9.99994803e-01 3.22407351e-03 0.00000000e+00 5.86707989e+01] [-3.22407351e-03 9.99994803e-01 0.00000000e+00 -8.66877332e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.50641574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.505336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:58.70, Y:-0.87, Z:-0.07 [[ 9.99994655e-01 3.26966473e-03 0.00000000e+00 5.87003897e+01] [-3.26966473e-03 9.99994655e-01 0.00000000e+00 -8.66866815e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.98422888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.535336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:58.73, Y:-0.87, Z:-0.07 [[ 9.99995528e-01 2.99063346e-03 0.00000000e+00 5.87290079e+01] [-2.99063346e-03 9.99995528e-01 0.00000000e+00 -8.68658842e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75484946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56533619499999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:58.76, Y:-0.87, Z:-0.06 [[ 9.99997991e-01 2.00462151e-03 0.00000000e+00 5.87582339e+01] [-2.00462151e-03 9.99997991e-01 0.00000000e+00 -8.69214734e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39766895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.595336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.79, Y:-0.87, Z:-0.07 [[ 9.99998739e-01 1.58824646e-03 0.00000000e+00 5.87871003e+01] [-1.58824646e-03 9.99998739e-01 0.00000000e+00 -8.69923886e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.74292493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.625336194999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:58.82, Y:-0.87, Z:-0.07 [[ 9.99999203e-01 1.26251489e-03 0.00000000e+00 5.88169159e+01] [-1.26251489e-03 9.99999203e-01 0.00000000e+00 -8.70475476e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.95021599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.655336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:58.85, Y:-0.87, Z:-0.07 [[ 9.99999372e-01 1.12031511e-03 0.00000000e+00 5.88467625e+01] [-1.12031511e-03 9.99999372e-01 0.00000000e+00 -8.69949558e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.78203575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.685336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.88, Y:-0.87, Z:-0.07 [[ 9.99999128e-01 -1.32028299e-03 0.00000000e+00 5.88762587e+01] [ 1.32028299e-03 9.99999128e-01 0.00000000e+00 -8.67410710e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63302569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.715336195 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:58.91, Y:-0.87, Z:-0.06 [[ 9.99991862e-01 -4.03423810e-03 0.00000000e+00 5.89078467e+01] [ 4.03423810e-03 9.99991862e-01 0.00000000e+00 -8.66737994e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.46840876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:58.94, Y:-0.87, Z:-0.06 [[ 9.99975379e-01 -7.01721593e-03 0.00000000e+00 5.89386651e+01] [ 7.01721593e-03 9.99975379e-01 0.00000000e+00 -8.65512995e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.38282052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.775336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:58.97, Y:-0.86, Z:-0.07 [[ 9.99907958e-01 -1.35674530e-02 0.00000000e+00 5.89688731e+01] [ 1.35674530e-02 9.99907958e-01 0.00000000e+00 -8.63304047e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.95951933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.805336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.00, Y:-0.86, Z:-0.07 [[ 9.99831001e-01 -1.83839181e-02 0.00000000e+00 5.90007984e+01] [ 1.83839181e-02 9.99831001e-01 0.00000000e+00 -8.63647464e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08965034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.835336195 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:59.03, Y:-0.86, Z:-0.07 [[ 9.99803824e-01 -1.98069009e-02 0.00000000e+00 5.90332976e+01] [ 1.98069009e-02 9.99803824e-01 0.00000000e+00 -8.64600721e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88325349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.865336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:59.06, Y:-0.87, Z:-0.07 [[ 9.99791487e-01 -2.04201489e-02 0.00000000e+00 5.90640709e+01] [ 2.04201489e-02 9.99791487e-01 0.00000000e+00 -8.66200479e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.13344125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.895336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.10, Y:-0.87, Z:-0.07 [[ 9.99788750e-01 -2.05537084e-02 0.00000000e+00 5.90961724e+01] [ 2.05537084e-02 9.99788750e-01 0.00000000e+00 -8.68871671e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.12669445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92533619499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.13, Y:-0.87, Z:-0.07 [[ 9.99814960e-01 -1.92365753e-02 0.00000000e+00 5.91287758e+01] [ 1.92365753e-02 9.99814960e-01 0.00000000e+00 -8.67662519e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.86727730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.955336194999994 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:59.16, Y:-0.87, Z:-0.07 [[ 9.99844656e-01 -1.76256629e-02 0.00000000e+00 5.91600437e+01] [ 1.76256629e-02 9.99844656e-01 0.00000000e+00 -8.67232441e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.13507028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.985336194999995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.19, Y:-0.87, Z:-0.08 [[ 9.99864880e-01 -1.64384424e-02 0.00000000e+00 5.91908624e+01] [ 1.64384424e-02 9.99864880e-01 0.00000000e+00 -8.65586714e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.96463151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.015336194999996 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:59.22, Y:-0.87, Z:-0.09 [[ 9.99904458e-01 -1.38229689e-02 0.00000000e+00 5.92216641e+01] [ 1.38229689e-02 9.99904458e-01 0.00000000e+00 -8.65517503e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.50380815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.045336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.25, Y:-0.87, Z:-0.08 [[ 9.99920779e-01 -1.25871080e-02 0.00000000e+00 5.92537152e+01] [ 1.25871080e-02 9.99920779e-01 0.00000000e+00 -8.69212777e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29544030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.075336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:59.28, Y:-0.87, Z:-0.09 [[ 9.99954399e-01 -9.54984011e-03 0.00000000e+00 5.92846622e+01] [ 9.54984011e-03 9.99954399e-01 0.00000000e+00 -8.74004766e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.60658975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10533619499999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:59.31, Y:-0.87, Z:-0.08 [[ 9.99967611e-01 -8.04839271e-03 0.00000000e+00 5.93145125e+01] [ 8.04839271e-03 9.99967611e-01 0.00000000e+00 -8.74068163e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.29778540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.135336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.35, Y:-0.87, Z:-0.06 [[ 9.99994791e-01 -3.22768589e-03 0.00000000e+00 5.93460482e+01] [ 3.22768589e-03 9.99994791e-01 0.00000000e+00 -8.69346446e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39557156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.165336194999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.38, Y:-0.87, Z:-0.06 [[ 9.99999787e-01 -6.52003585e-04 0.00000000e+00 5.93782489e+01] [ 6.52003585e-04 9.99999787e-01 0.00000000e+00 -8.68701811e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39764873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.195336194999996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:59.41, Y:-0.87, Z:-0.07 [[ 9.99996477e-01 2.65451507e-03 0.00000000e+00 5.94091736e+01] [-2.65451507e-03 9.99996477e-01 0.00000000e+00 -8.72923830e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88461959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.225336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.44, Y:-0.87, Z:-0.08 [[ 9.99994949e-01 3.17837395e-03 0.00000000e+00 5.94374205e+01] [-3.17837395e-03 9.99994949e-01 0.00000000e+00 -8.74295339e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.71394432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.47, Y:-0.87, Z:-0.08 [[ 9.99995255e-01 3.08061186e-03 0.00000000e+00 5.94667380e+01] [-3.08061186e-03 9.99995255e-01 0.00000000e+00 -8.73296526e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.75148197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.285336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:59.50, Y:-0.87, Z:-0.08 [[ 9.99999348e-01 1.14215054e-03 0.00000000e+00 5.94967766e+01] [-1.14215054e-03 9.99999348e-01 0.00000000e+00 -8.67085159e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52017042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.53, Y:-0.87, Z:-0.07 [[ 9.99999959e-01 -2.85665396e-04 0.00000000e+00 5.95264759e+01] [ 2.85665396e-04 9.99999959e-01 0.00000000e+00 -8.66187462e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.41020315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.345336194999994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:59.56, Y:-0.87, Z:-0.08 [[ 9.99998595e-01 -1.67603138e-03 0.00000000e+00 5.95565718e+01] [ 1.67603138e-03 9.99998595e-01 0.00000000e+00 -8.66294184e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.07528050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.375336194999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.59, Y:-0.86, Z:-0.08 [[ 9.99997712e-01 -2.13906730e-03 0.00000000e+00 5.95876322e+01] [ 2.13906730e-03 9.99997712e-01 0.00000000e+00 -8.64602768e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.82170821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.405336195 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:59.62, Y:-0.86, Z:-0.07 [[ 9.99997879e-01 -2.05941272e-03 0.00000000e+00 5.96188227e+01] [ 2.05941272e-03 9.99997879e-01 0.00000000e+00 -8.58508742e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.85763405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.435336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.65, Y:-0.86, Z:-0.07 [[ 9.99998277e-01 -1.85654090e-03 0.00000000e+00 5.96498760e+01] [ 1.85654090e-03 9.99998277e-01 0.00000000e+00 -8.57459995e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.90454548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.465336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:59.68, Y:-0.86, Z:-0.07 [[ 9.99998677e-01 -1.62650076e-03 0.00000000e+00 5.96810126e+01] [ 1.62650076e-03 9.99998677e-01 0.00000000e+00 -8.57245804e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.22934688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49533619499999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:59.71, Y:-0.85, Z:-0.07 [[ 9.99999165e-01 -1.29249818e-03 0.00000000e+00 5.97127560e+01] [ 1.29249818e-03 9.99999165e-01 0.00000000e+00 -8.54184635e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.94735247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.525336194999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.74, Y:-0.85, Z:-0.07 [[ 9.99998828e-01 -1.53114662e-03 0.00000000e+00 5.97436759e+01] [ 1.53114662e-03 9.99998828e-01 0.00000000e+00 -8.48462159e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.51871713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.555336194999995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:59.78, Y:-0.85, Z:-0.07 [[ 9.99999042e-01 -1.38442525e-03 0.00000000e+00 5.97750188e+01] [ 1.38442525e-03 9.99999042e-01 0.00000000e+00 -8.45625212e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.68627991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.585336195 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:59.81, Y:-0.84, Z:-0.06 [[ 9.99999022e-01 -1.39876140e-03 0.00000000e+00 5.98059877e+01] [ 1.39876140e-03 9.99999022e-01 0.00000000e+00 -8.43027906e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47032261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.615336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:59.84, Y:-0.84, Z:-0.07 [[ 9.99997355e-01 -2.30014859e-03 0.00000000e+00 5.98364001e+01] [ 2.30014859e-03 9.99997355e-01 0.00000000e+00 -8.39931535e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.77563156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.645336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:59.87, Y:-0.84, Z:-0.07 [[ 9.99995114e-01 -3.12606635e-03 0.00000000e+00 5.98681763e+01] [ 3.12606635e-03 9.99995114e-01 0.00000000e+00 -8.35372906e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25003669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.90, Y:-0.83, Z:-0.07 [[ 9.99990498e-01 -4.35934262e-03 0.00000000e+00 5.99000941e+01] [ 4.35934262e-03 9.99990498e-01 0.00000000e+00 -8.33111521e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11900110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.705336194999994 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:59.93, Y:-0.83, Z:-0.07 [[ 9.99982666e-01 -5.88791018e-03 0.00000000e+00 5.99317362e+01] [ 5.88791018e-03 9.99982666e-01 0.00000000e+00 -8.31869200e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.44285754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.735336194999995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:59.96, Y:-0.83, Z:-0.07 [[ 9.99967136e-01 -8.10724192e-03 0.00000000e+00 5.99645009e+01] [ 8.10724192e-03 9.99967136e-01 0.00000000e+00 -8.29438939e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.49653859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.765336194999996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.00, Y:-0.83, Z:-0.07 [[ 9.99961781e-01 -8.74278497e-03 0.00000000e+00 5.99971048e+01] [ 8.74278497e-03 9.99961781e-01 0.00000000e+00 -8.27860862e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16332893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.795336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.03, Y:-0.82, Z:-0.07 [[ 9.99953067e-01 -9.68830666e-03 0.00000000e+00 6.00283653e+01] [ 9.68830666e-03 9.99953067e-01 0.00000000e+00 -8.23338225e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.77888836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.825336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:60.06, Y:-0.82, Z:-0.06 [[ 9.99959209e-01 -9.03222633e-03 0.00000000e+00 6.00606037e+01] [ 9.03222633e-03 9.99959209e-01 0.00000000e+00 -8.21672575e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.21667738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85533619499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:60.09, Y:-0.82, Z:-0.07 [[ 9.99974732e-01 -7.10881752e-03 0.00000000e+00 6.00921581e+01] [ 7.10881752e-03 9.99974732e-01 0.00000000e+00 -8.20301570e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.78766679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.885336194999994 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:60.12, Y:-0.82, Z:-0.06 [[ 9.99999999e-01 -5.21649489e-05 0.00000000e+00 6.01240437e+01] [ 5.21649489e-05 9.99999999e-01 0.00000000e+00 -8.16145718e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.27872221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.915336194999995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:60.15, Y:-0.81, Z:-0.07 [[ 9.99977881e-01 6.65107975e-03 0.00000000e+00 6.01537342e+01] [-6.65107975e-03 9.99977881e-01 0.00000000e+00 -8.11161036e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.26133670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.945336194999996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:60.18, Y:-0.81, Z:-0.08 [[ 9.99960070e-01 8.93639351e-03 0.00000000e+00 6.01817841e+01] [-8.93639351e-03 9.99960070e-01 0.00000000e+00 -8.10345621e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.55200983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.975336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:60.21, Y:-0.81, Z:-0.08 [[ 9.99960670e-01 8.86900837e-03 0.00000000e+00 6.02102080e+01] [-8.86900837e-03 9.99960670e-01 0.00000000e+00 -8.10693200e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.55200983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.005336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:60.24, Y:-0.81, Z:-0.07 [[ 9.99945152e-01 1.04734268e-02 0.00000000e+00 6.02395604e+01] [-1.04734268e-02 9.99945152e-01 0.00000000e+00 -8.08557460e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.12771538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.035336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:60.27, Y:-0.80, Z:-0.07 [[ 9.99932348e-01 1.16318589e-02 0.00000000e+00 6.02687621e+01] [-1.16318589e-02 9.99932348e-01 0.00000000e+00 -8.02722069e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.12947540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:60.30, Y:-0.80, Z:-0.07 [[ 9.99935566e-01 1.13518380e-02 0.00000000e+00 6.02977206e+01] [-1.13518380e-02 9.99935566e-01 0.00000000e+00 -8.00381549e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07844742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.095336194999994 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:60.33, Y:-0.80, Z:-0.07 [[ 9.99944398e-01 1.05451877e-02 0.00000000e+00 6.03255252e+01] [-1.05451877e-02 9.99944398e-01 0.00000000e+00 -7.97161852e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05672405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.125336194999996 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:60.35, Y:-0.80, Z:-0.07 [[ 9.99957718e-01 9.19579598e-03 0.00000000e+00 6.03532636e+01] [-9.19579598e-03 9.99957718e-01 0.00000000e+00 -7.96180503e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.49726812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.155336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:60.38, Y:-0.80, Z:-0.08 [[ 9.99989650e-01 4.54979472e-03 0.00000000e+00 6.03823841e+01] [-4.54979472e-03 9.99989650e-01 0.00000000e+00 -7.95857641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.83482381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.185336195 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:60.41, Y:-0.80, Z:-0.09 [[ 9.99997345e-01 2.30450736e-03 0.00000000e+00 6.04099164e+01] [-2.30450736e-03 9.99997345e-01 0.00000000e+00 -7.96353057e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.61761166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.215336195 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:60.44, Y:-0.79, Z:-0.10 [[ 9.99999984e-01 1.81175104e-04 0.00000000e+00 6.04396479e+01] [-1.81175104e-04 9.99999984e-01 0.00000000e+00 -7.91744517e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.68267094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24533619499999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:60.47, Y:-0.79, Z:-0.09 [[ 9.99999997e-01 -7.44912063e-05 0.00000000e+00 6.04697147e+01] [ 7.44912063e-05 9.99999997e-01 0.00000000e+00 -7.89120465e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.05438885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.275336194999994 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:60.50, Y:-0.79, Z:-0.09 [[ 9.99999984e-01 -1.79094095e-04 0.00000000e+00 6.05000404e+01] [ 1.79094095e-04 9.99999984e-01 0.00000000e+00 -7.87697360e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.70604620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.305336194999995 meters Centerline goodness : 0.996154 Centerline is valid? [True, True] Translation: X:60.53, Y:-0.78, Z:-0.10 [[ 9.99997410e-01 2.27582365e-03 0.00000000e+00 6.05296100e+01] [-2.27582365e-03 9.99997410e-01 0.00000000e+00 -7.82385581e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.75279010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.335336195 meters Centerline goodness : 0.997390 Centerline is valid? [True, True] Translation: X:60.56, Y:-0.78, Z:-0.09 [[ 9.99990640e-01 4.32654420e-03 0.00000000e+00 6.05596647e+01] [-4.32654420e-03 9.99990640e-01 0.00000000e+00 -7.82348143e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.19489032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.365336195 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:60.59, Y:-0.78, Z:-0.10 [[ 9.99987442e-01 5.01151297e-03 0.00000000e+00 6.05882742e+01] [-5.01151297e-03 9.99987442e-01 0.00000000e+00 -7.84792620e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.54452014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.395336195 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:60.62, Y:-0.79, Z:-0.10 [[ 9.99985077e-01 5.46311067e-03 0.00000000e+00 6.06158887e+01] [-5.46311067e-03 9.99985077e-01 0.00000000e+00 -7.85887577e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02849071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42533619499999 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:60.65, Y:-0.78, Z:-0.11 [[ 9.99985676e-01 5.35236109e-03 0.00000000e+00 6.06456442e+01] [-5.35236109e-03 9.99985676e-01 0.00000000e+00 -7.78904967e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10468247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.455336194999994 meters Centerline goodness : 0.994744 Centerline is valid? [True, True] Translation: X:60.67, Y:-0.77, Z:-0.10 [[ 9.99990422e-01 4.37684023e-03 0.00000000e+00 6.06742902e+01] [-4.37684023e-03 9.99990422e-01 0.00000000e+00 -7.74826207e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04281914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.485336194999995 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:60.70, Y:-0.77, Z:-0.10 [[ 9.99993520e-01 3.59996735e-03 0.00000000e+00 6.07033967e+01] [-3.59996735e-03 9.99993520e-01 0.00000000e+00 -7.73888386e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02910140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.515336194999996 meters Centerline goodness : 0.995690 Centerline is valid? [True, True] Translation: X:60.73, Y:-0.78, Z:-0.11 [[ 9.99995097e-01 3.13157231e-03 0.00000000e+00 6.07315331e+01] [-3.13157231e-03 9.99995097e-01 0.00000000e+00 -7.75954432e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09306202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.545336195 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:60.76, Y:-0.77, Z:-0.10 [[ 9.99998779e-01 1.56267637e-03 0.00000000e+00 6.07613729e+01] [-1.56267637e-03 9.99998779e-01 0.00000000e+00 -7.74284737e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03172853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.575336195 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:60.79, Y:-0.77, Z:-0.10 [[ 9.99999321e-01 1.16518600e-03 0.00000000e+00 6.07901697e+01] [-1.16518600e-03 9.99999321e-01 0.00000000e+00 -7.69541530e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.91780131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60533619499999 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:60.82, Y:-0.76, Z:-0.10 [[ 9.99996048e-01 2.81151577e-03 0.00000000e+00 6.08200917e+01] [-2.81151577e-03 9.99996048e-01 0.00000000e+00 -7.62385881e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.79272692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.635336194999994 meters Centerline goodness : 0.995166 Centerline is valid? [True, True] Translation: X:60.85, Y:-0.76, Z:-0.12 [[ 9.99990449e-01 4.37053654e-03 0.00000000e+00 6.08492625e+01] [-4.37053654e-03 9.99990449e-01 0.00000000e+00 -7.64393343e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17067897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.665336194999995 meters Centerline goodness : 0.997318 Centerline is valid? [True, True] Translation: X:60.88, Y:-0.77, Z:-0.11 [[ 9.99989988e-01 4.47489670e-03 0.00000000e+00 6.08780623e+01] [-4.47489670e-03 9.99989988e-01 0.00000000e+00 -7.67597732e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12991923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.695336194999996 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:60.91, Y:-0.77, Z:-0.12 [[ 9.99995530e-01 2.99006526e-03 0.00000000e+00 6.09063103e+01] [-2.99006526e-03 9.99995530e-01 0.00000000e+00 -7.69138376e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18663167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.725336195 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:60.94, Y:-0.76, Z:-0.11 [[ 9.99999227e-01 -1.24333655e-03 0.00000000e+00 6.09364033e+01] [ 1.24333655e-03 9.99999227e-01 0.00000000e+00 -7.62684481e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13443284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.755336195 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:60.97, Y:-0.76, Z:-0.11 [[ 9.99995331e-01 -3.05566659e-03 0.00000000e+00 6.09677656e+01] [ 3.05566659e-03 9.99995331e-01 0.00000000e+00 -7.56328808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09183663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.785336195 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:61.00, Y:-0.75, Z:-0.12 [[ 9.99974516e-01 -7.13912245e-03 0.00000000e+00 6.09994153e+01] [ 7.13912245e-03 9.99974516e-01 0.00000000e+00 -7.54272258e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18870918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81533619499999 meters Centerline goodness : 0.995935 Centerline is valid? [True, True] Translation: X:61.03, Y:-0.76, Z:-0.11 [[ 9.99960408e-01 -8.89839749e-03 0.00000000e+00 6.10314120e+01] [ 8.89839749e-03 9.99960408e-01 0.00000000e+00 -7.57344691e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06417795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.845336194999994 meters Centerline goodness : 0.996160 Centerline is valid? [True, True] Translation: X:61.06, Y:-0.76, Z:-0.11 [[ 9.99938480e-01 -1.10922024e-02 0.00000000e+00 6.10622554e+01] [ 1.10922024e-02 9.99938480e-01 0.00000000e+00 -7.59353466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10528374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.875336194999996 meters Centerline goodness : 0.997956 Centerline is valid? [True, True] Translation: X:61.09, Y:-0.76, Z:-0.11 [[ 9.99939850e-01 -1.09679745e-02 0.00000000e+00 6.10929620e+01] [ 1.09679745e-02 9.99939850e-01 0.00000000e+00 -7.58631622e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09429851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.905336195 meters Centerline goodness : 0.996056 Centerline is valid? [True, True] Translation: X:61.12, Y:-0.75, Z:-0.11 [[ 9.99954316e-01 -9.55854405e-03 0.00000000e+00 6.11244490e+01] [ 9.55854405e-03 9.99954316e-01 0.00000000e+00 -7.52625041e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08135576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.935336195 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:61.16, Y:-0.75, Z:-0.11 [[ 9.99966738e-01 -8.15618247e-03 0.00000000e+00 6.11563836e+01] [ 8.15618247e-03 9.99966738e-01 0.00000000e+00 -7.49220353e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08940026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.965336195 meters Centerline goodness : 0.995553 Centerline is valid? [True, True] Translation: X:61.19, Y:-0.75, Z:-0.11 [[ 9.99988489e-01 -4.79807685e-03 0.00000000e+00 6.11890032e+01] [ 4.79807685e-03 9.99988489e-01 0.00000000e+00 -7.46855776e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08415369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99533619499999 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:61.22, Y:-0.75, Z:-0.12 [[ 9.99992768e-01 -3.80302712e-03 0.00000000e+00 6.12195723e+01] [ 3.80302712e-03 9.99992768e-01 0.00000000e+00 -7.47405053e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16885479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.025336194999994 meters Centerline goodness : 0.993400 Centerline is valid? [True, True] Translation: X:61.25, Y:-0.75, Z:-0.12 [[ 9.99998385e-01 -1.79737340e-03 0.00000000e+00 6.12512426e+01] [ 1.79737340e-03 9.99998385e-01 0.00000000e+00 -7.45665761e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21807293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.055336194999995 meters Centerline goodness : 0.992875 Centerline is valid? [True, True] Translation: X:61.28, Y:-0.74, Z:-0.12 [[ 9.99999007e-01 -1.40934262e-03 0.00000000e+00 6.12828623e+01] [ 1.40934262e-03 9.99999007e-01 0.00000000e+00 -7.41592655e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17021327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.085336195 meters Centerline goodness : 0.994838 Centerline is valid? [True, True] Translation: X:61.31, Y:-0.73, Z:-0.11 [[ 9.99999565e-01 -9.32775990e-04 0.00000000e+00 6.13144199e+01] [ 9.32775990e-04 9.99999565e-01 0.00000000e+00 -7.26752496e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06405139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.115336195 meters Centerline goodness : 0.995334 Centerline is valid? [True, True] Translation: X:61.34, Y:-0.72, Z:-0.10 [[ 9.99999605e-01 -8.88893015e-04 0.00000000e+00 6.13447389e+01] [ 8.88893015e-04 9.99999605e-01 0.00000000e+00 -7.21155609e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02713480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.145336195 meters Centerline goodness : 0.996437 Centerline is valid? [True, True] Translation: X:61.38, Y:-0.72, Z:-0.11 [[ 9.99998850e-01 -1.51633706e-03 0.00000000e+00 6.13753978e+01] [ 1.51633706e-03 9.99998850e-01 0.00000000e+00 -7.19271701e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06917557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17533619499999 meters Centerline goodness : 0.996653 Centerline is valid? [True, True] Translation: X:61.41, Y:-0.72, Z:-0.11 [[ 9.99998604e-01 -1.67092039e-03 0.00000000e+00 6.14065923e+01] [ 1.67092039e-03 9.99998604e-01 0.00000000e+00 -7.22325447e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09764831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.205336194999994 meters Centerline goodness : 0.996520 Centerline is valid? [True, True] Translation: X:61.44, Y:-0.73, Z:-0.12 [[ 9.99995933e-01 -2.85211545e-03 0.00000000e+00 6.14380537e+01] [ 2.85211545e-03 9.99995933e-01 0.00000000e+00 -7.26300658e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22007510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.235336194999995 meters Centerline goodness : 0.997083 Centerline is valid? [True, True] Translation: X:61.47, Y:-0.72, Z:-0.11 [[ 9.99992821e-01 -3.78922063e-03 0.00000000e+00 6.14703333e+01] [ 3.78922063e-03 9.99992821e-01 0.00000000e+00 -7.23752150e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07903576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.265336194999996 meters Centerline goodness : 0.996632 Centerline is valid? [True, True] Translation: X:61.50, Y:-0.72, Z:-0.11 [[ 9.99984766e-01 -5.51980919e-03 0.00000000e+00 6.15001793e+01] [ 5.51980919e-03 9.99984766e-01 0.00000000e+00 -7.17903970e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10021321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.295336195 meters Centerline goodness : 0.995736 Centerline is valid? [True, True] Translation: X:61.53, Y:-0.72, Z:-0.11 [[ 9.99983769e-01 -5.69748557e-03 0.00000000e+00 6.15319467e+01] [ 5.69748557e-03 9.99983769e-01 0.00000000e+00 -7.16080021e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07248317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.325336195 meters Centerline goodness : 0.995866 Centerline is valid? [True, True] Translation: X:61.56, Y:-0.71, Z:-0.11 [[ 9.99984634e-01 -5.54355203e-03 0.00000000e+00 6.15630143e+01] [ 5.54355203e-03 9.99984634e-01 0.00000000e+00 -7.13116047e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12589709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35533619499999 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:61.59, Y:-0.71, Z:-0.12 [[ 9.99996858e-01 -2.50692550e-03 0.00000000e+00 6.15932264e+01] [ 2.50692550e-03 9.99996858e-01 0.00000000e+00 -7.09808030e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17004681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.385336194999994 meters Centerline goodness : 0.993002 Centerline is valid? [True, True] Translation: X:61.62, Y:-0.71, Z:-0.12 [[ 9.99995687e-01 2.93701923e-03 0.00000000e+00 6.16237986e+01] [-2.93701923e-03 9.99995687e-01 0.00000000e+00 -7.08369630e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15186518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.415336194999995 meters Centerline goodness : 0.995788 Centerline is valid? [True, True] Translation: X:61.65, Y:-0.71, Z:-0.11 [[ 9.99980068e-01 6.31384182e-03 0.00000000e+00 6.16527311e+01] [-6.31384182e-03 9.99980068e-01 0.00000000e+00 -7.06003766e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10952319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.445336194999996 meters Centerline goodness : 0.996788 Centerline is valid? [True, True] Translation: X:61.68, Y:-0.70, Z:-0.11 [[ 9.99951667e-01 9.83178546e-03 0.00000000e+00 6.16817822e+01] [-9.83178546e-03 9.99951667e-01 0.00000000e+00 -6.96950341e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08393228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.475336195 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:61.72, Y:-0.70, Z:-0.11 [[ 9.99945797e-01 1.04117208e-02 0.00000000e+00 6.17200714e+01] [-1.04117208e-02 9.99945797e-01 0.00000000e+00 -6.99108477e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05353468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.505336195 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:61.74, Y:-0.70, Z:-0.11 [[ 9.99948059e-01 1.01921199e-02 0.00000000e+00 6.17416201e+01] [-1.01921199e-02 9.99948059e-01 0.00000000e+00 -6.97459948e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05258803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.535336195 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:61.77, Y:-0.70, Z:-0.10 [[ 9.99978134e-01 6.61297097e-03 0.00000000e+00 6.17714369e+01] [-6.61297097e-03 9.99978134e-01 0.00000000e+00 -7.01466602e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03972665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56533619499999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:61.80, Y:-0.69, Z:-0.09 [[ 9.99997957e-01 2.02161580e-03 0.00000000e+00 6.17999451e+01] [-2.02161580e-03 9.99997957e-01 0.00000000e+00 -6.94146472e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.41192253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.595336194999994 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:61.83, Y:-0.69, Z:-0.10 [[ 9.99999998e-01 -6.54313109e-05 0.00000000e+00 6.18288318e+01] [ 6.54313109e-05 9.99999998e-01 0.00000000e+00 -6.89602172e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00578883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.625336194999996 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:61.86, Y:-0.69, Z:-0.10 [[ 9.99990778e-01 -4.29453022e-03 0.00000000e+00 6.18593073e+01] [ 4.29453022e-03 9.99990778e-01 0.00000000e+00 -6.89981035e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.66583720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.655336195 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:61.89, Y:-0.69, Z:-0.10 [[ 9.99980925e-01 -6.17658432e-03 0.00000000e+00 6.18910609e+01] [ 6.17658432e-03 9.99980925e-01 0.00000000e+00 -6.92728899e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.99022686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.685336195 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:61.92, Y:-0.69, Z:-0.11 [[ 9.99967270e-01 -8.09068709e-03 0.00000000e+00 6.19220869e+01] [ 8.09068709e-03 9.99967270e-01 0.00000000e+00 -6.94935469e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11592073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.715336195 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:61.95, Y:-0.70, Z:-0.11 [[ 9.99961552e-01 -8.76895871e-03 0.00000000e+00 6.19547389e+01] [ 8.76895871e-03 9.99961552e-01 0.00000000e+00 -6.95133145e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06352498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74533619499999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:61.99, Y:-0.69, Z:-0.11 [[ 9.99980073e-01 -6.31293327e-03 0.00000000e+00 6.19854017e+01] [ 6.31293327e-03 9.99980073e-01 0.00000000e+00 -6.89060482e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09715165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.775336194999994 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:62.02, Y:-0.68, Z:-0.10 [[ 9.99992550e-01 -3.86001421e-03 0.00000000e+00 6.20181724e+01] [ 3.86001421e-03 9.99992550e-01 0.00000000e+00 -6.83962554e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.66866436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.805336194999995 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:62.05, Y:-0.67, Z:-0.09 [[ 9.99999845e-01 -5.57529255e-04 0.00000000e+00 6.20496625e+01] [ 5.57529255e-04 9.99999845e-01 0.00000000e+00 -6.71941960e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.28960714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.835336195 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:62.08, Y:-0.67, Z:-0.10 [[ 9.99999678e-01 -8.02838049e-04 0.00000000e+00 6.20798736e+01] [ 8.02838049e-04 9.99999678e-01 0.00000000e+00 -6.67972393e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.77952758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.865336195 meters Centerline goodness : 0.996577 Centerline is valid? [True, True] Translation: X:62.11, Y:-0.67, Z:-0.12 [[ 9.99999830e-01 -5.83786986e-04 0.00000000e+00 6.21107071e+01] [ 5.83786986e-04 9.99999830e-01 0.00000000e+00 -6.67917000e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21213169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.895336195 meters Centerline goodness : 0.996577 Centerline is valid? [True, True] Translation: X:62.14, Y:-0.67, Z:-0.12 [[ 9.99999841e-01 -5.63271897e-04 0.00000000e+00 6.21425217e+01] [ 5.63271897e-04 9.99999841e-01 0.00000000e+00 -6.68478187e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21213169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92533619499999 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:62.17, Y:-0.67, Z:-0.11 [[ 9.99998691e-01 -1.61807071e-03 0.00000000e+00 6.21726416e+01] [ 1.61807071e-03 9.99998691e-01 0.00000000e+00 -6.66726007e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05519567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.955336194999994 meters Centerline goodness : 0.997396 Centerline is valid? [True, True] Translation: X:62.20, Y:-0.67, Z:-0.12 [[ 9.99998082e-01 -1.95870556e-03 0.00000000e+00 6.22035259e+01] [ 1.95870556e-03 9.99998082e-01 0.00000000e+00 -6.65842753e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17779105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.985336194999995 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:62.23, Y:-0.66, Z:-0.10 [[ 9.99996675e-01 -2.57873512e-03 0.00000000e+00 6.22345888e+01] [ 2.57873512e-03 9.99996675e-01 0.00000000e+00 -6.58180845e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.74318442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.015336194999996 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:62.27, Y:-0.65, Z:-0.10 [[ 9.99991716e-01 -4.07026083e-03 0.00000000e+00 6.22702628e+01] [ 4.07026083e-03 9.99991716e-01 0.00000000e+00 -6.49123306e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.60023427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.045336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:62.30, Y:-0.65, Z:-0.10 [[ 9.99994035e-01 -3.45411041e-03 0.00000000e+00 6.22959701e+01] [ 3.45411041e-03 9.99994035e-01 0.00000000e+00 -6.46368649e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.58407278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.075336195 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:62.33, Y:-0.65, Z:-0.10 [[ 9.99994105e-01 -3.43371477e-03 0.00000000e+00 6.23286192e+01] [ 3.43371477e-03 9.99994105e-01 0.00000000e+00 -6.48442418e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.84483576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10533619499999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:62.36, Y:-0.65, Z:-0.12 [[ 9.99991775e-01 -4.05584070e-03 0.00000000e+00 6.23596980e+01] [ 4.05584070e-03 9.99991775e-01 0.00000000e+00 -6.45772397e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15273161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.135336194999994 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:62.39, Y:-0.63, Z:-0.09 [[ 9.99997492e-01 -2.23979844e-03 0.00000000e+00 6.23921090e+01] [ 2.23979844e-03 9.99997492e-01 0.00000000e+00 -6.30028075e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.06884096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.165336194999995 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:62.42, Y:-0.62, Z:-0.09 [[ 9.99999353e-01 -1.13752542e-03 0.00000000e+00 6.24232265e+01] [ 1.13752542e-03 9.99999353e-01 0.00000000e+00 -6.23668531e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.95742167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.195336194999996 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:62.45, Y:-0.62, Z:-0.09 [[ 9.99999378e-01 -1.11573431e-03 0.00000000e+00 6.24540572e+01] [ 1.11573431e-03 9.99999378e-01 0.00000000e+00 -6.22415432e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.15054954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.225336195 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:62.49, Y:-0.63, Z:-0.10 [[ 9.99998668e-01 -1.63193681e-03 0.00000000e+00 6.24852152e+01] [ 1.63193681e-03 9.99998668e-01 0.00000000e+00 -6.25931008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01041345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.255336195 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:62.52, Y:-0.63, Z:-0.10 [[ 9.99995554e-01 -2.98180106e-03 0.00000000e+00 6.25172148e+01] [ 2.98180106e-03 9.99995554e-01 0.00000000e+00 -6.28623222e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02831505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.285336195 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:62.55, Y:-0.62, Z:-0.10 [[ 9.99984236e-01 -5.61491793e-03 0.00000000e+00 6.25480595e+01] [ 5.61491793e-03 9.99984236e-01 0.00000000e+00 -6.23360720e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02543250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31533619499999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:62.58, Y:-0.61, Z:-0.09 [[ 9.99954319e-01 -9.55822542e-03 0.00000000e+00 6.25795464e+01] [ 9.55822542e-03 9.99954319e-01 0.00000000e+00 -6.09970227e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.66324897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.345336194999994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.61, Y:-0.61, Z:-0.08 [[ 9.99939357e-01 -1.10128262e-02 0.00000000e+00 6.26109629e+01] [ 1.10128262e-02 9.99939357e-01 0.00000000e+00 -6.06445144e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25085806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.375336194999996 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:62.64, Y:-0.61, Z:-0.09 [[ 9.99937768e-01 -1.11561847e-02 0.00000000e+00 6.26417603e+01] [ 1.11561847e-02 9.99937768e-01 0.00000000e+00 -6.07019752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.81335300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.405336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.67, Y:-0.61, Z:-0.09 [[ 9.99950460e-01 -9.95375845e-03 0.00000000e+00 6.26736512e+01] [ 9.95375845e-03 9.99950460e-01 0.00000000e+00 -6.06272450e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.68305069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.435336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.71, Y:-0.60, Z:-0.08 [[ 9.99974175e-01 -7.18670578e-03 0.00000000e+00 6.27055898e+01] [ 7.18670578e-03 9.99974175e-01 0.00000000e+00 -5.95803053e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.46105411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.465336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:62.74, Y:-0.59, Z:-0.09 [[ 9.99985618e-01 -5.36310975e-03 0.00000000e+00 6.27378463e+01] [ 5.36310975e-03 9.99985618e-01 0.00000000e+00 -5.93075588e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.60809533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.77, Y:-0.59, Z:-0.09 [[ 9.99993750e-01 -3.53551402e-03 0.00000000e+00 6.27696882e+01] [ 3.53551402e-03 9.99993750e-01 0.00000000e+00 -5.89080993e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.16499704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.525336194999994 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:62.80, Y:-0.59, Z:-0.09 [[ 9.99995306e-01 -3.06387086e-03 0.00000000e+00 6.28024043e+01] [ 3.06387086e-03 9.99995306e-01 0.00000000e+00 -5.87288872e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.81900671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.555336194999995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:62.83, Y:-0.59, Z:-0.09 [[ 9.99979540e-01 -6.39682969e-03 0.00000000e+00 6.28324479e+01] [ 6.39682969e-03 9.99979540e-01 0.00000000e+00 -5.85178015e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.25274742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.585336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.86, Y:-0.58, Z:-0.09 [[ 9.99967510e-01 -8.06090314e-03 0.00000000e+00 6.28645715e+01] [ 8.06090314e-03 9.99967510e-01 0.00000000e+00 -5.84344495e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.68708271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.615336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:62.90, Y:-0.58, Z:-0.08 [[ 9.99945134e-01 -1.04751994e-02 0.00000000e+00 6.28964333e+01] [ 1.04751994e-02 9.99945134e-01 0.00000000e+00 -5.76542783e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.42043399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.645336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:62.93, Y:-0.57, Z:-0.08 [[ 9.99933340e-01 -1.15461931e-02 0.00000000e+00 6.29290414e+01] [ 1.15461931e-02 9.99933340e-01 0.00000000e+00 -5.73949929e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.22467184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67533619499999 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:62.96, Y:-0.57, Z:-0.09 [[ 9.99899372e-01 -1.41860948e-02 0.00000000e+00 6.29584121e+01] [ 1.41860948e-02 9.99899372e-01 0.00000000e+00 -5.69969920e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.45429960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.705336194999994 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:62.99, Y:-0.57, Z:-0.10 [[ 9.99889927e-01 -1.48369404e-02 0.00000000e+00 6.29904545e+01] [ 1.48369404e-02 9.99889927e-01 0.00000000e+00 -5.67981610e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.61003556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.735336194999995 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:63.02, Y:-0.56, Z:-0.09 [[ 9.99910943e-01 -1.33456657e-02 0.00000000e+00 6.30230116e+01] [ 1.33456657e-02 9.99910943e-01 0.00000000e+00 -5.60421241e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.40823088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.765336194999996 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:63.05, Y:-0.56, Z:-0.10 [[ 9.99911422e-01 -1.33097009e-02 0.00000000e+00 6.30548847e+01] [ 1.33097009e-02 9.99911422e-01 0.00000000e+00 -5.56871192e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.78520216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.795336195 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:63.08, Y:-0.55, Z:-0.11 [[ 9.99896497e-01 -1.43873238e-02 0.00000000e+00 6.30849965e+01] [ 1.43873238e-02 9.99896497e-01 0.00000000e+00 -5.50304317e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08742568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.825336195 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:63.12, Y:-0.55, Z:-0.11 [[ 9.99891516e-01 -1.47294479e-02 0.00000000e+00 6.31169652e+01] [ 1.47294479e-02 9.99891516e-01 0.00000000e+00 -5.47768419e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11028769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85533619499999 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:63.15, Y:-0.54, Z:-0.10 [[ 9.99871933e-01 -1.60036922e-02 0.00000000e+00 6.31474351e+01] [ 1.60036922e-02 9.99871933e-01 0.00000000e+00 -5.42914305e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02925100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.885336194999994 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:63.18, Y:-0.54, Z:-0.10 [[ 9.99862067e-01 -1.66086129e-02 0.00000000e+00 6.31776952e+01] [ 1.66086129e-02 9.99862067e-01 0.00000000e+00 -5.42015864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01747034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.915336194999995 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:63.21, Y:-0.53, Z:-0.10 [[ 9.99847802e-01 -1.74462661e-02 0.00000000e+00 6.32079208e+01] [ 1.74462661e-02 9.99847802e-01 0.00000000e+00 -5.34892945e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.78588542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.945336194999996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:63.24, Y:-0.53, Z:-0.09 [[ 9.99862672e-01 -1.65721775e-02 0.00000000e+00 6.32398859e+01] [ 1.65721775e-02 9.99862672e-01 0.00000000e+00 -5.26957689e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.96208017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.975336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:63.27, Y:-0.52, Z:-0.09 [[ 9.99879770e-01 -1.55063000e-02 0.00000000e+00 6.32715546e+01] [ 1.55063000e-02 9.99879770e-01 0.00000000e+00 -5.22705855e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.69051606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.005336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.30, Y:-0.52, Z:-0.08 [[ 9.99883724e-01 -1.52492256e-02 0.00000000e+00 6.33025415e+01] [ 1.52492256e-02 9.99883724e-01 0.00000000e+00 -5.18712524e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.02144289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.035336195 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:63.33, Y:-0.52, Z:-0.08 [[ 9.99859057e-01 -1.67888613e-02 0.00000000e+00 6.33329311e+01] [ 1.67888613e-02 9.99859057e-01 0.00000000e+00 -5.18211774e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.67962390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.36, Y:-0.52, Z:-0.07 [[ 9.99829994e-01 -1.84386109e-02 0.00000000e+00 6.33649246e+01] [ 1.84386109e-02 9.99829994e-01 0.00000000e+00 -5.17233766e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46032219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.095336194999994 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:63.40, Y:-0.51, Z:-0.07 [[ 9.99740855e-01 -2.27645275e-02 0.00000000e+00 6.33966114e+01] [ 2.27645275e-02 9.99740855e-01 0.00000000e+00 -5.09453300e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.38787281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.125336194999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:63.43, Y:-0.51, Z:-0.08 [[ 9.99649844e-01 -2.64610810e-02 0.00000000e+00 6.34268312e+01] [ 2.64610810e-02 9.99649844e-01 0.00000000e+00 -5.07582343e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.49271634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.155336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:63.46, Y:-0.51, Z:-0.09 [[ 9.99604733e-01 -2.81136458e-02 0.00000000e+00 6.34573500e+01] [ 2.81136458e-02 9.99604733e-01 0.00000000e+00 -5.07573781e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.10612072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.185336195 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:63.49, Y:-0.50, Z:-0.09 [[ 9.99547119e-01 -3.00924708e-02 0.00000000e+00 6.34886577e+01] [ 3.00924708e-02 9.99547119e-01 0.00000000e+00 -5.01215472e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.26220220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.215336195 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:63.52, Y:-0.50, Z:-0.10 [[ 9.99518513e-01 -3.10280728e-02 0.00000000e+00 6.35192534e+01] [ 3.10280728e-02 9.99518513e-01 0.00000000e+00 -4.97693815e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.55968636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24533619499999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:63.55, Y:-0.49, Z:-0.10 [[ 9.99450894e-01 -3.31347176e-02 0.00000000e+00 6.35512099e+01] [ 3.31347176e-02 9.99450894e-01 0.00000000e+00 -4.93956111e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.52939464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.275336194999994 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:63.58, Y:-0.49, Z:-0.10 [[ 9.99412187e-01 -3.42823509e-02 0.00000000e+00 6.35821867e+01] [ 3.42823509e-02 9.99412187e-01 0.00000000e+00 -4.92832135e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.66644962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.305336194999995 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:63.61, Y:-0.49, Z:-0.10 [[ 9.99398290e-01 -3.46851342e-02 0.00000000e+00 6.36130156e+01] [ 3.46851342e-02 9.99398290e-01 0.00000000e+00 -4.90417733e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.92671210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.335336195 meters Centerline goodness : 0.997918 Centerline is valid? [True, True] Translation: X:63.64, Y:-0.49, Z:-0.10 [[ 9.99455872e-01 -3.29842240e-02 0.00000000e+00 6.36437289e+01] [ 3.29842240e-02 9.99455872e-01 0.00000000e+00 -4.85489275e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01652900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.365336195 meters Centerline goodness : 0.996483 Centerline is valid? [True, True] Translation: X:63.67, Y:-0.48, Z:-0.11 [[ 9.99589346e-01 -2.86555197e-02 0.00000000e+00 6.36731565e+01] [ 2.86555197e-02 9.99589346e-01 0.00000000e+00 -4.83639033e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14722152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.395336195 meters Centerline goodness : 0.996373 Centerline is valid? [True, True] Translation: X:63.71, Y:-0.48, Z:-0.11 [[ 9.99710853e-01 -2.40460120e-02 0.00000000e+00 6.37055047e+01] [ 2.40460120e-02 9.99710853e-01 0.00000000e+00 -4.80579680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13581022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42533619499999 meters Centerline goodness : 0.997773 Centerline is valid? [True, True] Translation: X:63.74, Y:-0.48, Z:-0.11 [[ 9.99761720e-01 -2.18289541e-02 0.00000000e+00 6.37358628e+01] [ 2.18289541e-02 9.99761720e-01 0.00000000e+00 -4.77409576e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10593228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.455336194999994 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:63.77, Y:-0.47, Z:-0.10 [[ 9.99796299e-01 -2.01831557e-02 0.00000000e+00 6.37666315e+01] [ 2.01831557e-02 9.99796299e-01 0.00000000e+00 -4.73438025e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03375642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.485336194999995 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:63.80, Y:-0.47, Z:-0.10 [[ 9.99824168e-01 -1.87518637e-02 0.00000000e+00 6.37964990e+01] [ 1.87518637e-02 9.99824168e-01 0.00000000e+00 -4.70559049e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01955234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.515336194999996 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:63.83, Y:-0.47, Z:-0.10 [[ 9.99813167e-01 -1.93295424e-02 0.00000000e+00 6.38276199e+01] [ 1.93295424e-02 9.99813167e-01 0.00000000e+00 -4.68996666e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03451489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.545336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:63.86, Y:-0.46, Z:-0.10 [[ 9.99804684e-01 -1.97634268e-02 0.00000000e+00 6.38590918e+01] [ 1.97634268e-02 9.99804684e-01 0.00000000e+00 -4.64693016e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.74689027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.575336195 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:63.89, Y:-0.46, Z:-0.09 [[ 9.99791968e-01 -2.03965743e-02 0.00000000e+00 6.38912447e+01] [ 2.03965743e-02 9.99791968e-01 0.00000000e+00 -4.59211710e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.18185246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60533619499999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:63.92, Y:-0.46, Z:-0.10 [[ 9.99786417e-01 -2.06669111e-02 0.00000000e+00 6.39213753e+01] [ 2.06669111e-02 9.99786417e-01 0.00000000e+00 -4.58606212e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.94131935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.635336194999994 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:63.95, Y:-0.46, Z:-0.10 [[ 9.99801028e-01 -1.99475418e-02 0.00000000e+00 6.39542663e+01] [ 1.99475418e-02 9.99801028e-01 0.00000000e+00 -4.55305009e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.73427818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.665336194999995 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:63.99, Y:-0.45, Z:-0.09 [[ 9.99773919e-01 -2.12628843e-02 0.00000000e+00 6.39871291e+01] [ 2.12628843e-02 9.99773919e-01 0.00000000e+00 -4.49273828e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.12683768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.695336194999996 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:64.02, Y:-0.45, Z:-0.09 [[ 9.99749639e-01 -2.23754030e-02 0.00000000e+00 6.40187044e+01] [ 2.23754030e-02 9.99749639e-01 0.00000000e+00 -4.47475106e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.94493392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.725336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:64.05, Y:-0.44, Z:-0.08 [[ 9.99697725e-01 -2.45857565e-02 0.00000000e+00 6.40486044e+01] [ 2.45857565e-02 9.99697725e-01 0.00000000e+00 -4.44709076e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.14051115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.755336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.08, Y:-0.44, Z:-0.07 [[ 9.99679351e-01 -2.53218235e-02 0.00000000e+00 6.40803818e+01] [ 2.53218235e-02 9.99679351e-01 0.00000000e+00 -4.43309412e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.32676434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.785336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.11, Y:-0.44, Z:-0.07 [[ 9.99684097e-01 -2.51337656e-02 0.00000000e+00 6.41141008e+01] [ 2.51337656e-02 9.99684097e-01 0.00000000e+00 -4.44093493e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.32676434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81533619499999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:64.15, Y:-0.44, Z:-0.08 [[ 9.99647161e-01 -2.65622599e-02 0.00000000e+00 6.41451747e+01] [ 2.65622599e-02 9.99647161e-01 0.00000000e+00 -4.41448090e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.80046267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.845336194999994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.18, Y:-0.44, Z:-0.08 [[ 9.99643999e-01 -2.66809928e-02 0.00000000e+00 6.41761753e+01] [ 2.66809928e-02 9.99643999e-01 0.00000000e+00 -4.41432604e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.24975005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.875336194999996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:64.21, Y:-0.44, Z:-0.08 [[ 9.99661537e-01 -2.60156121e-02 0.00000000e+00 6.42080046e+01] [ 2.60156121e-02 9.99661537e-01 0.00000000e+00 -4.38125166e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.31973203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.905336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:64.24, Y:-0.43, Z:-0.08 [[ 9.99653096e-01 -2.63379629e-02 0.00000000e+00 6.42383376e+01] [ 2.63379629e-02 9.99653096e-01 0.00000000e+00 -4.33580883e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.46831092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.935336195 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:64.27, Y:-0.43, Z:-0.09 [[ 9.99649510e-01 -2.64737117e-02 0.00000000e+00 6.42702980e+01] [ 2.64737117e-02 9.99649510e-01 0.00000000e+00 -4.32449962e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.81392594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.965336195 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:64.30, Y:-0.43, Z:-0.08 [[ 9.99668761e-01 -2.57365158e-02 0.00000000e+00 6.43031492e+01] [ 2.57365158e-02 9.99668761e-01 0.00000000e+00 -4.31037915e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.35522528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99533619499999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:64.34, Y:-0.43, Z:-0.09 [[ 9.99716593e-01 -2.38061867e-02 0.00000000e+00 6.43350465e+01] [ 2.38061867e-02 9.99716593e-01 0.00000000e+00 -4.33721412e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55500069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.025336195 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:64.37, Y:-0.43, Z:-0.09 [[ 9.99765761e-01 -2.16431025e-02 0.00000000e+00 6.43659076e+01] [ 2.16431025e-02 9.99765761e-01 0.00000000e+00 -4.34579824e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.60762761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.40, Y:-0.43, Z:-0.08 [[ 9.99847386e-01 -1.74701188e-02 0.00000000e+00 6.43961699e+01] [ 1.74701188e-02 9.99847386e-01 0.00000000e+00 -4.28517585e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.66747427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.085336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:64.43, Y:-0.43, Z:-0.07 [[ 9.99877664e-01 -1.56415140e-02 0.00000000e+00 6.44287056e+01] [ 1.56415140e-02 9.99877664e-01 0.00000000e+00 -4.25398812e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.57970938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.115336195 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:64.46, Y:-0.42, Z:-0.06 [[ 9.99884790e-01 -1.51791584e-02 0.00000000e+00 6.44598676e+01] [ 1.51791584e-02 9.99884790e-01 0.00000000e+00 -4.22380887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.43040911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.145336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.49, Y:-0.43, Z:-0.08 [[ 9.99855965e-01 -1.69720213e-02 0.00000000e+00 6.44901451e+01] [ 1.69720213e-02 9.99855965e-01 0.00000000e+00 -4.30229545e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.06157329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.175336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.52, Y:-0.43, Z:-0.09 [[ 9.99839244e-01 -1.79300104e-02 0.00000000e+00 6.45210314e+01] [ 1.79300104e-02 9.99839244e-01 0.00000000e+00 -4.34617289e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.75929797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.205336195 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:64.55, Y:-0.43, Z:-0.09 [[ 9.99823452e-01 -1.87900298e-02 0.00000000e+00 6.45523975e+01] [ 1.87900298e-02 9.99823452e-01 0.00000000e+00 -4.34454442e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.62347368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.235336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:64.58, Y:-0.43, Z:-0.09 [[ 9.99828224e-01 -1.85343399e-02 0.00000000e+00 6.45843971e+01] [ 1.85343399e-02 9.99828224e-01 0.00000000e+00 -4.33116474e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55263583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.62, Y:-0.43, Z:-0.08 [[ 9.99885050e-01 -1.51620475e-02 0.00000000e+00 6.46172803e+01] [ 1.51620475e-02 9.99885050e-01 0.00000000e+00 -4.29812089e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.65879554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29533619499999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:64.65, Y:-0.43, Z:-0.07 [[ 9.99927029e-01 -1.20803840e-02 0.00000000e+00 6.46491826e+01] [ 1.20803840e-02 9.99927029e-01 0.00000000e+00 -4.28584328e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.72986657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32533619499999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:64.68, Y:-0.43, Z:-0.07 [[ 9.99984217e-01 -5.61837040e-03 0.00000000e+00 6.46805720e+01] [ 5.61837040e-03 9.99984217e-01 0.00000000e+00 -4.31854774e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14000466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35533619499999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:64.71, Y:-0.43, Z:-0.07 [[ 9.99996327e-01 -2.71035173e-03 0.00000000e+00 6.47115419e+01] [ 2.71035173e-03 9.99996327e-01 0.00000000e+00 -4.34490869e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.33456601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.385336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.74, Y:-0.43, Z:-0.07 [[ 9.99996506e-01 2.64343402e-03 0.00000000e+00 6.47432768e+01] [-2.64343402e-03 9.99996506e-01 0.00000000e+00 -4.33357627e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.92304767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.415336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:64.77, Y:-0.43, Z:-0.07 [[ 9.99965115e-01 8.35271371e-03 0.00000000e+00 6.47710985e+01] [-8.35271371e-03 9.99965115e-01 0.00000000e+00 -4.26135573e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.70679802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.445336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.80, Y:-0.42, Z:-0.06 [[ 9.99934287e-01 1.14638916e-02 0.00000000e+00 6.48000600e+01] [-1.14638916e-02 9.99934287e-01 0.00000000e+00 -4.23823090e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.24391099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.475336195 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:64.83, Y:-0.42, Z:-0.07 [[ 9.99885545e-01 1.51293226e-02 0.00000000e+00 6.48265345e+01] [-1.51293226e-02 9.99885545e-01 0.00000000e+00 -4.22264015e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.97972864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.505336195 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:64.85, Y:-0.42, Z:-0.07 [[ 9.99879743e-01 1.55080274e-02 0.00000000e+00 6.48547251e+01] [-1.55080274e-02 9.99879743e-01 0.00000000e+00 -4.20717093e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.08002283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.535336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:64.88, Y:-0.42, Z:-0.07 [[ 9.99904835e-01 1.37956754e-02 0.00000000e+00 6.48833210e+01] [-1.37956754e-02 9.99904835e-01 0.00000000e+00 -4.15553899e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.12251354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.565336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.91, Y:-0.41, Z:-0.07 [[ 9.99919953e-01 1.26525366e-02 0.00000000e+00 6.49116520e+01] [-1.26525366e-02 9.99919953e-01 0.00000000e+00 -4.14459287e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29284872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.595336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:64.94, Y:-0.42, Z:-0.07 [[ 9.99948436e-01 1.01550726e-02 0.00000000e+00 6.49407261e+01] [-1.01550726e-02 9.99948436e-01 0.00000000e+00 -4.17124853e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.35387390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.625336195 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:64.97, Y:-0.42, Z:-0.08 [[ 9.99961785e-01 8.74228473e-03 0.00000000e+00 6.49673334e+01] [-8.74228473e-03 9.99961785e-01 0.00000000e+00 -4.17142369e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.72084972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65533619499999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:65.00, Y:-0.41, Z:-0.06 [[ 9.99980936e-01 6.17468741e-03 0.00000000e+00 6.49967381e+01] [-6.17468741e-03 9.99980936e-01 0.00000000e+00 -4.11976110e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.42179661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68533619499999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:65.03, Y:-0.41, Z:-0.06 [[ 9.99995155e-01 3.11291569e-03 0.00000000e+00 6.50253664e+01] [-3.11291569e-03 9.99995155e-01 0.00000000e+00 -4.10717595e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.86244433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71533619499999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:65.05, Y:-0.41, Z:-0.06 [[ 9.99998979e-01 1.42874559e-03 0.00000000e+00 6.50545117e+01] [-1.42874559e-03 9.99998979e-01 0.00000000e+00 -4.12063447e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.02454968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.745336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:65.08, Y:-0.42, Z:-0.07 [[ 9.99998102e-01 -1.94814318e-03 0.00000000e+00 6.50833005e+01] [ 1.94814318e-03 9.99998102e-01 0.00000000e+00 -4.16570223e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76116320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.775336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:65.12, Y:-0.42, Z:-0.07 [[ 9.99994603e-01 -3.28526708e-03 0.00000000e+00 6.51154897e+01] [ 3.28526708e-03 9.99994603e-01 0.00000000e+00 -4.16650104e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.71192748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.805336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:65.15, Y:-0.41, Z:-0.06 [[ 9.99975676e-01 -6.97481548e-03 0.00000000e+00 6.51470392e+01] [ 6.97481548e-03 9.99975676e-01 0.00000000e+00 -4.12071001e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29230577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.835336195 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:65.18, Y:-0.41, Z:-0.06 [[ 9.99980565e-01 -6.23453160e-03 0.00000000e+00 6.51788456e+01] [ 6.23453160e-03 9.99980565e-01 0.00000000e+00 -4.11535770e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76193329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.865336195 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:65.21, Y:-0.41, Z:-0.06 [[ 9.99977996e-01 -6.63376279e-03 0.00000000e+00 6.52100771e+01] [ 6.63376279e-03 9.99977996e-01 0.00000000e+00 -4.08336396e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.06868951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.895336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:65.24, Y:-0.41, Z:-0.06 [[ 9.99979343e-01 -6.42752926e-03 0.00000000e+00 6.52433042e+01] [ 6.42752926e-03 9.99979343e-01 0.00000000e+00 -4.11366561e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.34365674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.27, Y:-0.42, Z:-0.06 [[ 9.99989646e-01 -4.55060975e-03 0.00000000e+00 6.52747601e+01] [ 4.55060975e-03 9.99989646e-01 0.00000000e+00 -4.15364428e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.24433417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.955336195 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:65.31, Y:-0.41, Z:-0.06 [[ 9.99989777e-01 -4.52180625e-03 0.00000000e+00 6.53054436e+01] [ 4.52180625e-03 9.99989777e-01 0.00000000e+00 -4.14791757e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.95707915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.985336195 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:65.34, Y:-0.41, Z:-0.05 [[ 9.99988140e-01 -4.87031148e-03 0.00000000e+00 6.53382372e+01] [ 4.87031148e-03 9.99988140e-01 0.00000000e+00 -4.11084830e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34358116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.37, Y:-0.41, Z:-0.05 [[ 9.99987893e-01 -4.92073301e-03 0.00000000e+00 6.53695037e+01] [ 4.92073301e-03 9.99987893e-01 0.00000000e+00 -4.09923729e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.32379017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04533619499999 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:65.40, Y:-0.41, Z:-0.07 [[ 9.99972238e-01 -7.45143361e-03 0.00000000e+00 6.54007959e+01] [ 7.45143361e-03 9.99972238e-01 0.00000000e+00 -4.14583516e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60474796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07533619499999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:65.43, Y:-0.42, Z:-0.07 [[ 9.99970260e-01 -7.71226713e-03 0.00000000e+00 6.54331605e+01] [ 7.71226713e-03 9.99970260e-01 0.00000000e+00 -4.17131220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64151704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10533619499999 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:65.47, Y:-0.41, Z:-0.06 [[ 9.99959889e-01 -8.95653328e-03 0.00000000e+00 6.54650763e+01] [ 8.95653328e-03 9.99959889e-01 0.00000000e+00 -4.12726641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01571877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.135336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:65.50, Y:-0.41, Z:-0.06 [[ 9.99952061e-01 -9.79161081e-03 0.00000000e+00 6.54976771e+01] [ 9.79161081e-03 9.99952061e-01 0.00000000e+00 -4.10917788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.11858511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.165336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:65.53, Y:-0.41, Z:-0.06 [[ 9.99957064e-01 -9.26666534e-03 0.00000000e+00 6.55302380e+01] [ 9.26666534e-03 9.99957064e-01 0.00000000e+00 -4.11199569e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.84261523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.195336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.56, Y:-0.41, Z:-0.05 [[ 9.99973143e-01 -7.32887628e-03 0.00000000e+00 6.55620913e+01] [ 7.32887628e-03 9.99973143e-01 0.00000000e+00 -4.10818332e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33368078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.225336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:65.59, Y:-0.41, Z:-0.05 [[ 9.99976855e-01 -6.80359074e-03 0.00000000e+00 6.55943153e+01] [ 6.80359074e-03 9.99976855e-01 0.00000000e+00 -4.10941283e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.21712320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.255336195 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:65.63, Y:-0.41, Z:-0.05 [[ 9.99987076e-01 -5.08400008e-03 0.00000000e+00 6.56254299e+01] [ 5.08400008e-03 9.99987076e-01 0.00000000e+00 -4.14877557e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.48253176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.285336195 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:65.66, Y:-0.42, Z:-0.06 [[ 9.99992270e-01 -3.93202021e-03 0.00000000e+00 6.56561245e+01] [ 3.93202021e-03 9.99992270e-01 0.00000000e+00 -4.17833692e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88767018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.315336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:65.69, Y:-0.42, Z:-0.06 [[ 9.99999257e-01 -1.21863522e-03 0.00000000e+00 6.56879930e+01] [ 1.21863522e-03 9.99999257e-01 0.00000000e+00 -4.15723360e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70033456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.345336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:65.72, Y:-0.41, Z:-0.05 [[ 9.99995742e-01 2.91834254e-03 0.00000000e+00 6.57183536e+01] [-2.91834254e-03 9.99995742e-01 0.00000000e+00 -4.07309813e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70384991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.375336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.75, Y:-0.40, Z:-0.04 [[ 9.99984328e-01 5.59846667e-03 0.00000000e+00 6.57472536e+01] [-5.59846667e-03 9.99984328e-01 0.00000000e+00 -4.04779525e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30372314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40533619499999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.78, Y:-0.40, Z:-0.05 [[ 9.99970199e-01 7.72011891e-03 0.00000000e+00 6.57761622e+01] [-7.72011891e-03 9.99970199e-01 0.00000000e+00 -4.04983501e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11016721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43533619499999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:65.80, Y:-0.41, Z:-0.06 [[ 9.99971205e-01 7.58878683e-03 0.00000000e+00 6.58034393e+01] [-7.58878683e-03 9.99971205e-01 0.00000000e+00 -4.08725388e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94852907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46533619499999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:65.83, Y:-0.41, Z:-0.06 [[ 9.99973707e-01 7.25159476e-03 0.00000000e+00 6.58325564e+01] [-7.25159476e-03 9.99973707e-01 0.00000000e+00 -4.07300967e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.68080078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.495336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.86, Y:-0.40, Z:-0.05 [[ 9.99981969e-01 6.00505796e-03 0.00000000e+00 6.58616638e+01] [-6.00505796e-03 9.99981969e-01 0.00000000e+00 -3.99069586e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08632886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.525336195 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:65.89, Y:-0.40, Z:-0.05 [[ 9.99984181e-01 5.62478040e-03 0.00000000e+00 6.58898238e+01] [-5.62478040e-03 9.99984181e-01 0.00000000e+00 -3.95463874e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16962803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.555336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:65.92, Y:-0.39, Z:-0.06 [[ 9.99977726e-01 6.67440518e-03 0.00000000e+00 6.59177183e+01] [-6.67440518e-03 9.99977726e-01 0.00000000e+00 -3.91688704e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.82135528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.585336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:65.95, Y:-0.39, Z:-0.06 [[ 9.99975373e-01 7.01801187e-03 0.00000000e+00 6.59466004e+01] [-7.01801187e-03 9.99975373e-01 0.00000000e+00 -3.91228570e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.78374413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.615336195 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.97, Y:-0.39, Z:-0.06 [[ 9.99968816e-01 7.89722749e-03 0.00000000e+00 6.59744432e+01] [-7.89722749e-03 9.99968816e-01 0.00000000e+00 -3.87636818e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.96030668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.645336195 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:66.00, Y:-0.39, Z:-0.06 [[ 9.99966766e-01 8.15273712e-03 0.00000000e+00 6.60031159e+01] [-8.15273712e-03 9.99966766e-01 0.00000000e+00 -3.85715801e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79640914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.675336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:66.03, Y:-0.38, Z:-0.05 [[ 9.99981331e-01 6.11039015e-03 0.00000000e+00 6.60305387e+01] [-6.11039015e-03 9.99981331e-01 0.00000000e+00 -3.80802332e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.45170611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.705336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:66.06, Y:-0.38, Z:-0.05 [[ 9.99981754e-01 6.04075135e-03 0.00000000e+00 6.60589355e+01] [-6.04075135e-03 9.99981754e-01 0.00000000e+00 -3.81314709e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.45170611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.735336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:66.09, Y:-0.37, Z:-0.04 [[ 9.99991331e-01 4.16383715e-03 0.00000000e+00 6.60878247e+01] [-4.16383715e-03 9.99991331e-01 0.00000000e+00 -3.71124450e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37479572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76533619499999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:66.12, Y:-0.37, Z:-0.05 [[ 9.99995946e-01 2.84747497e-03 0.00000000e+00 6.61154342e+01] [-2.84747497e-03 9.99995946e-01 0.00000000e+00 -3.68256011e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62824413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.14, Y:-0.37, Z:-0.06 [[ 9.99999684e-01 7.95556965e-04 0.00000000e+00 6.61446329e+01] [-7.95556965e-04 9.99999684e-01 0.00000000e+00 -3.66341388e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56892079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.17, Y:-0.37, Z:-0.06 [[ 9.99999931e-01 -3.70724435e-04 0.00000000e+00 6.61734635e+01] [ 3.70724435e-04 9.99999931e-01 0.00000000e+00 -3.65453956e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35747384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85533619499999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:66.20, Y:-0.36, Z:-0.06 [[ 9.99999743e-01 -7.16964588e-04 0.00000000e+00 6.62036743e+01] [ 7.16964588e-04 9.99999743e-01 0.00000000e+00 -3.60389898e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.32128473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.885336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:66.23, Y:-0.36, Z:-0.06 [[ 9.99999635e-01 -8.54164111e-04 0.00000000e+00 6.62341476e+01] [ 8.54164111e-04 9.99999635e-01 0.00000000e+00 -3.56847724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10535074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.27, Y:-0.35, Z:-0.05 [[ 9.99999953e-01 -3.07246349e-04 0.00000000e+00 6.62651287e+01] [ 3.07246349e-04 9.99999953e-01 0.00000000e+00 -3.47289808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.19396359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.945336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:66.30, Y:-0.34, Z:-0.05 [[ 9.99999983e-01 -1.81677361e-04 0.00000000e+00 6.62960155e+01] [ 1.81677361e-04 9.99999983e-01 0.00000000e+00 -3.41503722e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70546009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.33, Y:-0.34, Z:-0.05 [[ 9.99999871e-01 -5.07400727e-04 0.00000000e+00 6.63263287e+01] [ 5.07400727e-04 9.99999871e-01 0.00000000e+00 -3.35005850e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30423427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.005336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.36, Y:-0.33, Z:-0.05 [[ 9.99997707e-01 -2.14147286e-03 0.00000000e+00 6.63581470e+01] [ 2.14147286e-03 9.99997707e-01 0.00000000e+00 -3.29365765e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.49685739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.39, Y:-0.32, Z:-0.05 [[ 9.99989529e-01 -4.57629588e-03 0.00000000e+00 6.63905370e+01] [ 4.57629588e-03 9.99989529e-01 0.00000000e+00 -3.18326382e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98441774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.065336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.42, Y:-0.31, Z:-0.05 [[ 9.99982913e-01 -5.84577880e-03 0.00000000e+00 6.64225430e+01] [ 5.84577880e-03 9.99982913e-01 0.00000000e+00 -3.14327236e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12906963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.095336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.45, Y:-0.31, Z:-0.06 [[ 9.99950586e-01 -9.94106020e-03 0.00000000e+00 6.64546654e+01] [ 9.94106020e-03 9.99950586e-01 0.00000000e+00 -3.12193087e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.09342247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.125336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:66.49, Y:-0.31, Z:-0.06 [[ 9.99925191e-01 -1.22316458e-02 0.00000000e+00 6.64874222e+01] [ 1.22316458e-02 9.99925191e-01 0.00000000e+00 -3.11698193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.33995669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.52, Y:-0.30, Z:-0.06 [[ 9.99829008e-01 -1.84919992e-02 0.00000000e+00 6.65189364e+01] [ 1.84919992e-02 9.99829008e-01 0.00000000e+00 -3.02895326e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73083459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18533619499999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.55, Y:-0.30, Z:-0.05 [[ 9.99781402e-01 -2.09081033e-02 0.00000000e+00 6.65511333e+01] [ 2.09081033e-02 9.99781402e-01 0.00000000e+00 -2.95681767e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98757150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21533619499999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:66.58, Y:-0.29, Z:-0.05 [[ 9.99691040e-01 -2.48560807e-02 0.00000000e+00 6.65832496e+01] [ 2.48560807e-02 9.99691040e-01 0.00000000e+00 -2.90358992e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.06379266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.245336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:66.62, Y:-0.29, Z:-0.06 [[ 9.99665628e-01 -2.58579272e-02 0.00000000e+00 6.66162358e+01] [ 2.58579272e-02 9.99665628e-01 0.00000000e+00 -2.93114608e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67034946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.275336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:66.65, Y:-0.30, Z:-0.07 [[ 9.99640495e-01 -2.68119473e-02 0.00000000e+00 6.66480864e+01] [ 2.68119473e-02 9.99640495e-01 0.00000000e+00 -2.98190544e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.15288742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.305336195 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:66.68, Y:-0.29, Z:-0.06 [[ 9.99674836e-01 -2.54994433e-02 0.00000000e+00 6.66811901e+01] [ 2.54994433e-02 9.99674836e-01 0.00000000e+00 -2.87681369e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88611446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.335336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:66.71, Y:-0.28, Z:-0.05 [[ 9.99682898e-01 -2.51813984e-02 0.00000000e+00 6.67137987e+01] [ 2.51813984e-02 9.99682898e-01 0.00000000e+00 -2.79092407e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17757441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.365336195 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:66.75, Y:-0.27, Z:-0.05 [[ 9.99729676e-01 -2.32502645e-02 0.00000000e+00 6.67462800e+01] [ 2.32502645e-02 9.99729676e-01 0.00000000e+00 -2.71255833e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29533578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.395336195 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:66.78, Y:-0.27, Z:-0.06 [[ 9.99733690e-01 -2.30770155e-02 0.00000000e+00 6.67789496e+01] [ 2.30770155e-02 9.99733690e-01 0.00000000e+00 -2.71020454e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61256496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.425336195 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:66.81, Y:-0.27, Z:-0.06 [[ 9.99740339e-01 -2.27871437e-02 0.00000000e+00 6.68111672e+01] [ 2.27871437e-02 9.99740339e-01 0.00000000e+00 -2.65849788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.71847953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.455336195 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:66.84, Y:-0.26, Z:-0.06 [[ 9.99763759e-01 -2.17353752e-02 0.00000000e+00 6.68418006e+01] [ 2.17353752e-02 9.99763759e-01 0.00000000e+00 -2.61669735e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.96278043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.485336195 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:66.87, Y:-0.25, Z:-0.06 [[ 9.99818968e-01 -1.90270967e-02 0.00000000e+00 6.68736823e+01] [ 1.90270967e-02 9.99818968e-01 0.00000000e+00 -2.51677876e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29075027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51533619499999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:66.91, Y:-0.24, Z:-0.06 [[ 9.99901978e-01 -1.40012089e-02 0.00000000e+00 6.69060218e+01] [ 1.40012089e-02 9.99901978e-01 0.00000000e+00 -2.40891430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.60500348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54533619499999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:66.94, Y:-0.24, Z:-0.06 [[ 9.99920531e-01 -1.26068354e-02 0.00000000e+00 6.69374004e+01] [ 1.26068354e-02 9.99920531e-01 0.00000000e+00 -2.37867393e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.09180991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57533619499999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:66.97, Y:-0.23, Z:-0.06 [[ 9.99930147e-01 -1.18194914e-02 0.00000000e+00 6.69699148e+01] [ 1.18194914e-02 9.99930147e-01 0.00000000e+00 -2.33623994e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.46991507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60533619499999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:67.00, Y:-0.23, Z:-0.07 [[ 9.99936744e-01 -1.12475593e-02 0.00000000e+00 6.70026168e+01] [ 1.12475593e-02 9.99936744e-01 0.00000000e+00 -2.31730788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62115266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.635336195 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:67.03, Y:-0.22, Z:-0.07 [[ 9.99940435e-01 -1.09145173e-02 0.00000000e+00 6.70337890e+01] [ 1.09145173e-02 9.99940435e-01 0.00000000e+00 -2.21836756e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.18043024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.665336195 meters Centerline goodness : 0.997241 Centerline is valid? [True, True] Translation: X:67.06, Y:-0.22, Z:-0.07 [[ 9.99945694e-01 -1.04215598e-02 0.00000000e+00 6.70646735e+01] [ 1.04215598e-02 9.99945694e-01 0.00000000e+00 -2.15155881e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.32046781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.695336195 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:67.10, Y:-0.20, Z:-0.08 [[ 9.99951870e-01 -9.81108279e-03 0.00000000e+00 6.70959553e+01] [ 9.81108279e-03 9.99951870e-01 0.00000000e+00 -2.03050233e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.89731616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.725336195 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:67.13, Y:-0.20, Z:-0.08 [[ 9.99951819e-01 -9.81625385e-03 0.00000000e+00 6.71282155e+01] [ 9.81625385e-03 9.99951819e-01 0.00000000e+00 -1.97827186e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.69762998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.755336195 meters Centerline goodness : 0.994939 Centerline is valid? [True, True] Translation: X:67.16, Y:-0.18, Z:-0.08 [[ 9.99957128e-01 -9.25975574e-03 0.00000000e+00 6.71599881e+01] [ 9.25975574e-03 9.99957128e-01 0.00000000e+00 -1.79681354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.01256803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.785336195 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:67.19, Y:-0.17, Z:-0.08 [[ 9.99962460e-01 -8.66477557e-03 0.00000000e+00 6.71914184e+01] [ 8.66477557e-03 9.99962460e-01 0.00000000e+00 -1.74129177e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.07870861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.815336195 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:67.22, Y:-0.17, Z:-0.08 [[ 9.99966153e-01 -8.22757606e-03 0.00000000e+00 6.72233465e+01] [ 8.22757606e-03 9.99966153e-01 0.00000000e+00 -1.67599394e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.14973043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.845336195 meters Centerline goodness : 0.995682 Centerline is valid? [True, True] Translation: X:67.25, Y:-0.15, Z:-0.08 [[ 9.99961301e-01 -8.79749239e-03 0.00000000e+00 6.72547392e+01] [ 8.79749239e-03 9.99961301e-01 0.00000000e+00 -1.52473946e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.00588188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.875336195 meters Centerline goodness : 0.995255 Centerline is valid? [True, True] Translation: X:67.29, Y:-0.13, Z:-0.07 [[ 9.99903293e-01 -1.39070295e-02 0.00000000e+00 6.72877350e+01] [ 1.39070295e-02 9.99903293e-01 0.00000000e+00 -1.33349325e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62160253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90533619499999 meters Centerline goodness : 0.994013 Centerline is valid? [True, True] Translation: X:67.32, Y:-0.13, Z:-0.07 [[ 9.99846430e-01 -1.75247307e-02 0.00000000e+00 6.73204584e+01] [ 1.75247307e-02 9.99846430e-01 0.00000000e+00 -1.25300289e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.54391775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93533619499999 meters Centerline goodness : 0.993878 Centerline is valid? [True, True] Translation: X:67.35, Y:-0.12, Z:-0.07 [[ 9.99715569e-01 -2.38491299e-02 0.00000000e+00 6.73527466e+01] [ 2.38491299e-02 9.99715569e-01 0.00000000e+00 -1.16824980e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.22851494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96533619499999 meters Centerline goodness : 0.993972 Centerline is valid? [True, True] Translation: X:67.39, Y:-0.11, Z:-0.07 [[ 9.99636113e-01 -2.69748222e-02 0.00000000e+00 6.73864467e+01] [ 2.69748222e-02 9.99636113e-01 0.00000000e+00 -1.12557212e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.17396980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.995336195 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:67.42, Y:-0.10, Z:-0.07 [[ 9.99471193e-01 -3.25166686e-02 0.00000000e+00 6.74196325e+01] [ 3.25166686e-02 9.99471193e-01 0.00000000e+00 -9.90840751e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88250882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.025336195 meters Centerline goodness : 0.992937 Centerline is valid? [True, True] Translation: X:67.45, Y:-0.09, Z:-0.07 [[ 9.99362400e-01 -3.57042625e-02 0.00000000e+00 6.74512211e+01] [ 3.57042625e-02 9.99362400e-01 0.00000000e+00 -8.86933825e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42452117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.055336195 meters Centerline goodness : 0.990728 Centerline is valid? [True, True] Translation: X:67.48, Y:-0.08, Z:-0.08 [[ 9.99323148e-01 -3.67864946e-02 0.00000000e+00 6.74840955e+01] [ 3.67864946e-02 9.99323148e-01 0.00000000e+00 -8.31776503e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.97745162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.085336195 meters Centerline goodness : 0.990045 Centerline is valid? [True, True] Translation: X:67.52, Y:-0.07, Z:-0.08 [[ 9.99299253e-01 -3.74299719e-02 0.00000000e+00 6.75155251e+01] [ 3.74299719e-02 9.99299253e-01 0.00000000e+00 -7.29302176e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.75766374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.115336195 meters Centerline goodness : 0.990096 Centerline is valid? [True, True] Translation: X:67.55, Y:-0.07, Z:-0.07 [[ 9.99101354e-01 -4.23849525e-02 0.00000000e+00 6.75477722e+01] [ 4.23849525e-02 9.99101354e-01 0.00000000e+00 -7.23250883e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25134553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.145336195 meters Centerline goodness : 0.988786 Centerline is valid? [True, True] Translation: X:67.58, Y:-0.07, Z:-0.07 [[ 9.98694336e-01 -5.10844729e-02 0.00000000e+00 6.75789899e+01] [ 5.10844729e-02 9.98694336e-01 0.00000000e+00 -6.99263988e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.59652139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.175336195 meters Centerline goodness : 0.988526 Centerline is valid? [True, True] Translation: X:67.61, Y:-0.07, Z:-0.07 [[ 9.98685780e-01 -5.12514711e-02 0.00000000e+00 6.76101071e+01] [ 5.12514711e-02 9.98685780e-01 0.00000000e+00 -7.49300180e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.22929493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.205336195 meters Centerline goodness : 0.990841 Centerline is valid? [True, True] Translation: X:67.64, Y:-0.09, Z:-0.08 [[ 9.98858164e-01 -4.77741423e-02 0.00000000e+00 6.76418647e+01] [ 4.77741423e-02 9.98858164e-01 0.00000000e+00 -8.66899733e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.33870165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.235336195 meters Centerline goodness : 0.991833 Centerline is valid? [True, True] Translation: X:67.67, Y:-0.09, Z:-0.08 [[ 9.99025250e-01 -4.41423875e-02 0.00000000e+00 6.76739778e+01] [ 4.41423875e-02 9.99025250e-01 0.00000000e+00 -8.71854982e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.10951237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26533619499999 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:67.71, Y:-0.08, Z:-0.07 [[ 9.99381219e-01 -3.51735540e-02 0.00000000e+00 6.77065345e+01] [ 3.51735540e-02 9.99381219e-01 0.00000000e+00 -7.73632063e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.79517749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29533619499999 meters Centerline goodness : 0.992964 Centerline is valid? [True, True] Translation: X:67.74, Y:-0.07, Z:-0.06 [[ 9.99513072e-01 -3.12028631e-02 0.00000000e+00 6.77380782e+01] [ 3.12028631e-02 9.99513072e-01 0.00000000e+00 -7.20780804e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.48420506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32533619499999 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:67.77, Y:-0.07, Z:-0.06 [[ 9.99437132e-01 -3.35472700e-02 0.00000000e+00 6.77689841e+01] [ 3.35472700e-02 9.99437132e-01 0.00000000e+00 -7.08710390e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39500267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35533619499999 meters Centerline goodness : 0.995913 Centerline is valid? [True, True] Translation: X:67.80, Y:-0.08, Z:-0.07 [[ 9.99383003e-01 -3.51228385e-02 0.00000000e+00 6.78007810e+01] [ 3.51228385e-02 9.99383003e-01 0.00000000e+00 -7.67685462e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.77571914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.385336195 meters Centerline goodness : 0.997873 Centerline is valid? [True, True] Translation: X:67.83, Y:-0.09, Z:-0.08 [[ 9.99359964e-01 -3.57723702e-02 0.00000000e+00 6.78308828e+01] [ 3.57723702e-02 9.99359964e-01 0.00000000e+00 -8.63439610e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.74873139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.415336195 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:67.86, Y:-0.09, Z:-0.07 [[ 9.99373177e-01 -3.54013283e-02 0.00000000e+00 6.78616724e+01] [ 3.54013283e-02 9.99373177e-01 0.00000000e+00 -8.56563887e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.24427560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.445336195 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:67.92, Y:-0.08, Z:-0.06 [[ 9.99276970e-01 -3.80202212e-02 0.00000000e+00 6.79174138e+01] [ 3.80202212e-02 9.99276970e-01 0.00000000e+00 -8.45443399e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.77679037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.475336195 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:67.92, Y:-0.08, Z:-0.06 [[ 9.99498210e-01 -3.16753537e-02 0.00000000e+00 6.79229236e+01] [ 3.16753537e-02 9.99498210e-01 0.00000000e+00 -7.57138834e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61704612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.505336195 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:67.95, Y:-0.08, Z:-0.06 [[ 9.99564035e-01 -2.95252564e-02 0.00000000e+00 6.79536007e+01] [ 2.95252564e-02 9.99564035e-01 0.00000000e+00 -7.51979866e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01588390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.535336195 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:67.99, Y:-0.08, Z:-0.06 [[ 9.99589243e-01 -2.86591250e-02 0.00000000e+00 6.79857948e+01] [ 2.86591250e-02 9.99589243e-01 0.00000000e+00 -7.60927102e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.71349807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.565336195 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:68.02, Y:-0.08, Z:-0.06 [[ 9.99500591e-01 -3.16001228e-02 0.00000000e+00 6.80177203e+01] [ 3.16001228e-02 9.99500591e-01 0.00000000e+00 -7.76348112e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.83292572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.595336195 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:68.05, Y:-0.08, Z:-0.06 [[ 9.99506136e-01 -3.14242621e-02 0.00000000e+00 6.80515002e+01] [ 3.14242621e-02 9.99506136e-01 0.00000000e+00 -7.86970366e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.83292572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.625336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.11, Y:-0.09, Z:-0.06 [[ 9.99228865e-01 -3.92641736e-02 0.00000000e+00 6.81082372e+01] [ 3.92641736e-02 9.99228865e-01 0.00000000e+00 -9.05911786e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.96358279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65533619499999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:68.14, Y:-0.09, Z:-0.06 [[ 9.99204201e-01 -3.98869058e-02 0.00000000e+00 6.81388579e+01] [ 3.98869058e-02 9.99204201e-01 0.00000000e+00 -8.86469175e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.98174366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68533619499999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:68.14, Y:-0.08, Z:-0.06 [[ 9.99502249e-01 -3.15476394e-02 0.00000000e+00 6.81441778e+01] [ 3.15476394e-02 9.99502249e-01 0.00000000e+00 -8.16377689e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73399087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.20, Y:-0.09, Z:-0.06 [[ 9.99341313e-01 -3.62896727e-02 0.00000000e+00 6.82028690e+01] [ 3.62896727e-02 9.99341313e-01 0.00000000e+00 -9.12381337e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.86881643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.745336195 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:68.20, Y:-0.09, Z:-0.06 [[ 9.99631991e-01 -2.71271622e-02 0.00000000e+00 6.82044953e+01] [ 2.71271622e-02 9.99631991e-01 0.00000000e+00 -8.68842707e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.38923482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.775336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:68.26, Y:-0.09, Z:-0.06 [[ 9.99508329e-01 -3.13544195e-02 0.00000000e+00 6.82646578e+01] [ 3.13544195e-02 9.99508329e-01 0.00000000e+00 -9.47620780e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.14628983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.30, Y:-0.09, Z:-0.06 [[ 9.99539760e-01 -3.03359111e-02 0.00000000e+00 6.82957414e+01] [ 3.03359111e-02 9.99539760e-01 0.00000000e+00 -9.46888279e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94502264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.835336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:68.30, Y:-0.09, Z:-0.05 [[ 9.99754384e-01 -2.21624108e-02 0.00000000e+00 6.82979734e+01] [ 2.21624108e-02 9.99754384e-01 0.00000000e+00 -8.70230382e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.27068528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.865336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:68.33, Y:-0.09, Z:-0.05 [[ 9.99748473e-01 -2.24274480e-02 0.00000000e+00 6.83306550e+01] [ 2.24274480e-02 9.99748473e-01 0.00000000e+00 -8.72778109e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13895256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.895336195 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:68.36, Y:-0.09, Z:-0.05 [[ 9.99747141e-01 -2.24867745e-02 0.00000000e+00 6.83622763e+01] [ 2.24867745e-02 9.99747141e-01 0.00000000e+00 -8.94188961e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.40303704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.42, Y:-0.10, Z:-0.05 [[ 9.99578250e-01 -2.90399957e-02 0.00000000e+00 6.84245988e+01] [ 2.90399957e-02 9.99578250e-01 0.00000000e+00 -9.95045340e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41367179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.45, Y:-0.10, Z:-0.06 [[ 9.99772505e-01 -2.13292928e-02 0.00000000e+00 6.84486086e+01] [ 2.13292928e-02 9.99772505e-01 0.00000000e+00 -1.02824048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.51052784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.47, Y:-0.10, Z:-0.06 [[ 9.99881204e-01 -1.54135458e-02 0.00000000e+00 6.84710400e+01] [ 1.54135458e-02 9.99881204e-01 0.00000000e+00 -1.03636481e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70132618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01533619499999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:68.52, Y:-0.10, Z:-0.05 [[ 9.99854682e-01 -1.70474568e-02 0.00000000e+00 6.85165861e+01] [ 1.70474568e-02 9.99854682e-01 0.00000000e+00 -9.95191596e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47489059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04533619499999 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:68.55, Y:-0.10, Z:-0.05 [[ 9.99878889e-01 -1.55630419e-02 0.00000000e+00 6.85458198e+01] [ 1.55630419e-02 9.99878889e-01 0.00000000e+00 -9.51111407e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10861461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.58, Y:-0.09, Z:-0.05 [[ 9.99898016e-01 -1.42813576e-02 0.00000000e+00 6.85799833e+01] [ 1.42813576e-02 9.99898016e-01 0.00000000e+00 -9.44622368e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.00510619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:68.61, Y:-0.10, Z:-0.05 [[ 9.99887523e-01 -1.49980245e-02 0.00000000e+00 6.86096340e+01] [ 1.49980245e-02 9.99887523e-01 0.00000000e+00 -9.58496652e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.96903708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.135336195 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:68.64, Y:-0.10, Z:-0.05 [[ 9.99867572e-01 -1.62738719e-02 0.00000000e+00 6.86401565e+01] [ 1.62738719e-02 9.99867572e-01 0.00000000e+00 -9.87205119e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98364245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.67, Y:-0.10, Z:-0.05 [[ 9.99848145e-01 -1.74266049e-02 0.00000000e+00 6.86692853e+01] [ 1.74266049e-02 9.99848145e-01 0.00000000e+00 -1.00551081e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.05871824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.70, Y:-0.10, Z:-0.05 [[ 9.99840465e-01 -1.78617918e-02 0.00000000e+00 6.87006267e+01] [ 1.78617918e-02 9.99840465e-01 0.00000000e+00 -1.00420874e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.21373325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.225336195 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:68.73, Y:-0.10, Z:-0.05 [[ 9.99834918e-01 -1.81696753e-02 0.00000000e+00 6.87322672e+01] [ 1.81696753e-02 9.99834918e-01 0.00000000e+00 -9.81121453e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99377821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.76, Y:-0.10, Z:-0.04 [[ 9.99879980e-01 -1.54927784e-02 0.00000000e+00 6.87634898e+01] [ 1.54927784e-02 9.99879980e-01 0.00000000e+00 -9.52791022e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19525244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.79, Y:-0.09, Z:-0.04 [[ 9.99933408e-01 -1.15403213e-02 0.00000000e+00 6.87885178e+01] [ 1.15403213e-02 9.99933408e-01 0.00000000e+00 -9.44107878e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56965662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.315336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:68.82, Y:-0.09, Z:-0.03 [[ 9.99947209e-01 -1.02751664e-02 0.00000000e+00 6.88243916e+01] [ 1.02751664e-02 9.99947209e-01 0.00000000e+00 -9.04620537e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85855650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.345336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:68.86, Y:-0.10, Z:-0.04 [[ 9.99935758e-01 -1.13348660e-02 0.00000000e+00 6.88578758e+01] [ 1.13348660e-02 9.99935758e-01 0.00000000e+00 -9.53270734e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.13851307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.375336195 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:68.89, Y:-0.10, Z:-0.05 [[ 9.99916719e-01 -1.29056062e-02 0.00000000e+00 6.88894556e+01] [ 1.29056062e-02 9.99916719e-01 0.00000000e+00 -9.86833073e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.87185419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:68.92, Y:-0.10, Z:-0.05 [[ 9.99866215e-01 -1.63570171e-02 0.00000000e+00 6.89179333e+01] [ 1.63570171e-02 9.99866215e-01 0.00000000e+00 -1.01758797e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.05009545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43533619499999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:68.92, Y:-0.10, Z:-0.05 [[ 9.99963025e-01 -8.59931037e-03 0.00000000e+00 6.89180225e+01] [ 8.59931037e-03 9.99963025e-01 0.00000000e+00 -9.69922291e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69467767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46533619499999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:68.95, Y:-0.09, Z:-0.04 [[ 9.99955982e-01 -9.38263565e-03 0.00000000e+00 6.89507330e+01] [ 9.38263565e-03 9.99955982e-01 0.00000000e+00 -9.44796596e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53201584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.495336195 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:69.01, Y:-0.10, Z:-0.03 [[ 9.99839469e-01 -1.79174976e-02 0.00000000e+00 6.90066720e+01] [ 1.79174976e-02 9.99839469e-01 0.00000000e+00 -9.60856835e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14882151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.04, Y:-0.10, Z:-0.03 [[ 9.99925565e-01 -1.22010317e-02 0.00000000e+00 6.90419136e+01] [ 1.22010317e-02 9.99925565e-01 0.00000000e+00 -9.59952049e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23356401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.555336195 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:69.04, Y:-0.10, Z:-0.04 [[ 9.99997334e-01 2.30913459e-03 0.00000000e+00 6.90401787e+01] [-2.30913459e-03 9.99997334e-01 0.00000000e+00 -9.52297597e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.48764681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.585336195 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:69.08, Y:-0.10, Z:-0.05 [[ 9.99998718e-01 1.60094254e-03 0.00000000e+00 6.90761627e+01] [-1.60094254e-03 9.99998718e-01 0.00000000e+00 -9.82642523e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88183607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.615336195 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:69.10, Y:-0.10, Z:-0.04 [[ 9.99989979e-01 4.47672855e-03 0.00000000e+00 6.90999667e+01] [-4.47672855e-03 9.99989979e-01 0.00000000e+00 -9.54796541e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.41273210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.645336195 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:69.13, Y:-0.10, Z:-0.04 [[ 9.99999575e-01 9.22123645e-04 0.00000000e+00 6.91347284e+01] [-9.22123645e-04 9.99999575e-01 0.00000000e+00 -9.51742796e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89064566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.675336195 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:69.16, Y:-0.10, Z:-0.04 [[ 1.00000000e+00 -1.63604518e-05 0.00000000e+00 6.91594881e+01] [ 1.63604518e-05 1.00000000e+00 0.00000000e+00 -9.58244099e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07940075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.705336195 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:69.19, Y:-0.10, Z:-0.05 [[ 9.99999021e-01 -1.39942280e-03 0.00000000e+00 6.91898540e+01] [ 1.39942280e-03 9.99999021e-01 0.00000000e+00 -1.00360097e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70512096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.735336195 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:69.22, Y:-0.10, Z:-0.04 [[ 1.00000000e+00 7.06537805e-06 0.00000000e+00 6.92224367e+01] [-7.06537805e-06 1.00000000e+00 0.00000000e+00 -1.00426983e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49194064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76533619499999 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:69.25, Y:-0.10, Z:-0.04 [[ 9.99998194e-01 1.90068573e-03 0.00000000e+00 6.92526048e+01] [-1.90068573e-03 9.99998194e-01 0.00000000e+00 -9.88336214e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.14314985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:69.28, Y:-0.10, Z:-0.03 [[ 9.99999930e-01 3.73240903e-04 0.00000000e+00 6.92808370e+01] [-3.73240903e-04 9.99999930e-01 0.00000000e+00 -9.58165284e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19299645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.32, Y:-0.10, Z:-0.03 [[ 9.99974875e-01 -7.08867287e-03 0.00000000e+00 6.93241435e+01] [ 7.08867287e-03 9.99974875e-01 0.00000000e+00 -9.70406630e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89941043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:69.34, Y:-0.10, Z:-0.03 [[ 9.99998354e-01 -1.81426298e-03 0.00000000e+00 6.93390071e+01] [ 1.81426298e-03 9.99998354e-01 0.00000000e+00 -9.59971669e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71061501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.37, Y:-0.10, Z:-0.03 [[ 9.99985106e-01 -5.45788078e-03 0.00000000e+00 6.93749773e+01] [ 5.45788078e-03 9.99985106e-01 0.00000000e+00 -9.68760512e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94819496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.915336195 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:69.40, Y:-0.10, Z:-0.04 [[ 9.99997526e-01 -2.22428726e-03 0.00000000e+00 6.93977269e+01] [ 2.22428726e-03 9.99997526e-01 0.00000000e+00 -9.84909188e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63350913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.945336195 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:69.43, Y:-0.10, Z:-0.04 [[ 9.99998290e-01 -1.84907303e-03 0.00000000e+00 6.94300581e+01] [ 1.84907303e-03 9.99998290e-01 0.00000000e+00 -9.87355915e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59203869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.975336195 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:69.46, Y:-0.10, Z:-0.04 [[ 9.99981884e-01 -6.01934283e-03 0.00000000e+00 6.94629712e+01] [ 6.01934283e-03 9.99981884e-01 0.00000000e+00 -1.00407262e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.83334434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.005336195 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:69.49, Y:-0.10, Z:-0.04 [[ 9.99995302e-01 -3.06527278e-03 0.00000000e+00 6.94917211e+01] [ 3.06527278e-03 9.99995302e-01 0.00000000e+00 -1.01532528e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77269122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.035336195 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:69.53, Y:-0.10, Z:-0.04 [[ 9.99999424e-01 -1.07364176e-03 0.00000000e+00 6.95254246e+01] [ 1.07364176e-03 9.99999424e-01 0.00000000e+00 -1.01335717e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90489978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.065336195 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:69.55, Y:-0.11, Z:-0.05 [[ 9.99998317e-01 1.83439888e-03 0.00000000e+00 6.95535389e+01] [-1.83439888e-03 9.99998317e-01 0.00000000e+00 -1.06426522e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07437786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.095336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:69.58, Y:-0.11, Z:-0.06 [[ 9.99997279e-01 2.33301861e-03 0.00000000e+00 6.95825563e+01] [-2.33301861e-03 9.99997279e-01 0.00000000e+00 -1.09932232e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62641678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.125336195 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:69.61, Y:-0.11, Z:-0.05 [[ 9.99989442e-01 4.59525876e-03 0.00000000e+00 6.96099841e+01] [-4.59525876e-03 9.99989442e-01 0.00000000e+00 -1.08346256e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88414859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:69.64, Y:-0.11, Z:-0.04 [[ 9.99981702e-01 6.04944930e-03 0.00000000e+00 6.96391863e+01] [-6.04944930e-03 9.99981702e-01 0.00000000e+00 -1.06027713e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92710315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18533619499999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:69.67, Y:-0.10, Z:-0.03 [[ 9.99961557e-01 8.76837609e-03 0.00000000e+00 6.96664473e+01] [-8.76837609e-03 9.99961557e-01 0.00000000e+00 -1.02569355e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62499358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:69.70, Y:-0.10, Z:-0.02 [[ 9.99964179e-01 8.46404668e-03 0.00000000e+00 6.97004940e+01] [-8.46404668e-03 9.99964179e-01 0.00000000e+00 -1.02591544e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04496005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.245336195 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:69.72, Y:-0.10, Z:-0.02 [[ 9.99909339e-01 1.34652657e-02 0.00000000e+00 6.97220387e+01] [-1.34652657e-02 9.99909339e-01 0.00000000e+00 -1.04149466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22786011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.275336195 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:69.75, Y:-0.11, Z:-0.03 [[ 9.99931014e-01 1.17459353e-02 0.00000000e+00 6.97490338e+01] [-1.17459353e-02 9.99931014e-01 0.00000000e+00 -1.07290002e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76826939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.305336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:69.78, Y:-0.11, Z:-0.03 [[ 9.99964761e-01 8.39498970e-03 0.00000000e+00 6.97827550e+01] [-8.39498970e-03 9.99964761e-01 0.00000000e+00 -1.08135999e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10565454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.335336195 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:69.81, Y:-0.11, Z:-0.04 [[ 9.99975348e-01 7.02163130e-03 0.00000000e+00 6.98058262e+01] [-7.02163130e-03 9.99975348e-01 0.00000000e+00 -1.09285548e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55214439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.84, Y:-0.11, Z:-0.04 [[ 9.99998376e-01 1.80214716e-03 0.00000000e+00 6.98403705e+01] [-1.80214716e-03 9.99998376e-01 0.00000000e+00 -1.11405183e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.15375261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.395336195 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:69.87, Y:-0.11, Z:-0.04 [[ 9.99998839e-01 1.52380562e-03 0.00000000e+00 6.98658324e+01] [-1.52380562e-03 9.99998839e-01 0.00000000e+00 -1.11569222e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82941018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.425336195 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:69.89, Y:-0.11, Z:-0.04 [[ 9.99997109e-01 2.40439385e-03 0.00000000e+00 6.98935080e+01] [-2.40439385e-03 9.99997109e-01 0.00000000e+00 -1.11668288e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65633907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.455336195 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:69.92, Y:-0.11, Z:-0.04 [[ 9.99997950e-01 2.02476813e-03 0.00000000e+00 6.99219948e+01] [-2.02476813e-03 9.99997950e-01 0.00000000e+00 -1.11523192e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57162856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.485336195 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:69.95, Y:-0.12, Z:-0.04 [[ 9.99995146e-01 3.11563760e-03 0.00000000e+00 6.99544051e+01] [-3.11563760e-03 9.99995146e-01 0.00000000e+00 -1.15387783e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.93397513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51533619499999 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:69.98, Y:-0.12, Z:-0.04 [[ 9.99995603e-01 2.96558634e-03 0.00000000e+00 6.99824813e+01] [-2.96558634e-03 9.99995603e-01 0.00000000e+00 -1.15736296e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.93397513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54533619499999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:70.01, Y:-0.12, Z:-0.05 [[ 9.99992608e-01 3.84504016e-03 0.00000000e+00 7.00078246e+01] [-3.84504016e-03 9.99992608e-01 0.00000000e+00 -1.17058479e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63599386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57533619499999 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:70.04, Y:-0.12, Z:-0.04 [[ 9.99992838e-01 3.78461154e-03 0.00000000e+00 7.00367163e+01] [-3.78461154e-03 9.99992838e-01 0.00000000e+00 -1.18090712e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.45179319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:70.06, Y:-0.12, Z:-0.05 [[ 9.99998370e-01 1.80563181e-03 0.00000000e+00 7.00645592e+01] [-1.80563181e-03 9.99998370e-01 0.00000000e+00 -1.17265022e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64944794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.635336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:70.10, Y:-0.12, Z:-0.04 [[ 9.99999995e-01 -1.04006955e-04 0.00000000e+00 7.00995987e+01] [ 1.04006955e-04 9.99999995e-01 0.00000000e+00 -1.19690584e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30789862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.665336195 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:70.12, Y:-0.12, Z:-0.04 [[ 9.99995374e-01 -3.04164882e-03 0.00000000e+00 7.01241426e+01] [ 3.04164882e-03 9.99995374e-01 0.00000000e+00 -1.16751546e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22085543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.695336195 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:70.16, Y:-0.12, Z:-0.04 [[ 9.99995517e-01 -2.99445701e-03 0.00000000e+00 7.01566338e+01] [ 2.99445701e-03 9.99995517e-01 0.00000000e+00 -1.17766183e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.15990413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.725336195 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:70.19, Y:-0.12, Z:-0.05 [[ 9.99995701e-01 -2.93227726e-03 0.00000000e+00 7.01878384e+01] [ 2.93227726e-03 9.99995701e-01 0.00000000e+00 -1.19464278e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74214134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.755336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:70.22, Y:-0.12, Z:-0.05 [[ 9.99995248e-01 -3.08278227e-03 0.00000000e+00 7.02195998e+01] [ 3.08278227e-03 9.99995248e-01 0.00000000e+00 -1.21788964e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88777262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.785336195 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:70.25, Y:-0.12, Z:-0.05 [[ 9.99993053e-01 -3.72736313e-03 0.00000000e+00 7.02517712e+01] [ 3.72736313e-03 9.99993053e-01 0.00000000e+00 -1.24023491e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81298247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.815336195 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:70.28, Y:-0.13, Z:-0.04 [[ 9.99994188e-01 -3.40939596e-03 0.00000000e+00 7.02824219e+01] [ 3.40939596e-03 9.99994188e-01 0.00000000e+00 -1.25080694e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31891651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.845336195 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:70.31, Y:-0.12, Z:-0.03 [[ 9.99999007e-01 -1.40944600e-03 0.00000000e+00 7.03133941e+01] [ 1.40944600e-03 9.99999007e-01 0.00000000e+00 -1.22230048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47920369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87533619499999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:70.35, Y:-0.12, Z:-0.03 [[ 9.99999974e-01 2.28930752e-04 0.00000000e+00 7.03453414e+01] [-2.28930752e-04 9.99999974e-01 0.00000000e+00 -1.20729505e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96682446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:70.38, Y:-0.12, Z:-0.03 [[ 9.99998699e-01 -1.61332631e-03 0.00000000e+00 7.03751910e+01] [ 1.61332631e-03 9.99998699e-01 0.00000000e+00 -1.22686959e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38214767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:70.41, Y:-0.13, Z:-0.03 [[ 9.99997345e-01 -2.30454959e-03 0.00000000e+00 7.04085156e+01] [ 2.30454959e-03 9.99997345e-01 0.00000000e+00 -1.25275840e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36841807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.44, Y:-0.13, Z:-0.04 [[ 9.99996659e-01 -2.58499620e-03 0.00000000e+00 7.04412348e+01] [ 2.58499620e-03 9.99996659e-01 0.00000000e+00 -1.27921340e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81432444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.995336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:70.47, Y:-0.13, Z:-0.04 [[ 9.99995202e-01 -3.09773143e-03 0.00000000e+00 7.04728798e+01] [ 3.09773143e-03 9.99995202e-01 0.00000000e+00 -1.29260930e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18351371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.025336195 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:70.50, Y:-0.13, Z:-0.05 [[ 9.99996421e-01 -2.67541311e-03 0.00000000e+00 7.05037449e+01] [ 2.67541311e-03 9.99996421e-01 0.00000000e+00 -1.32098882e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59073340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.055336195 meters Centerline goodness : 0.999882 Centerline is valid? [True, True] Translation: X:70.53, Y:-0.13, Z:-0.05 [[ 9.99998511e-01 -1.72593365e-03 0.00000000e+00 7.05339498e+01] [ 1.72593365e-03 9.99998511e-01 0.00000000e+00 -1.34436393e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.19047002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.085336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:70.57, Y:-0.13, Z:-0.05 [[ 9.99999809e-01 -6.17981986e-04 0.00000000e+00 7.05657805e+01] [ 6.17981986e-04 9.99999809e-01 0.00000000e+00 -1.34852208e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.20716979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.115336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:70.60, Y:-0.13, Z:-0.04 [[ 9.99998006e-01 1.99674679e-03 0.00000000e+00 7.05969433e+01] [-1.99674679e-03 9.99998006e-01 0.00000000e+00 -1.30470144e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24217267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.145336195 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:70.62, Y:-0.13, Z:-0.04 [[ 9.99995426e-01 3.02468450e-03 0.00000000e+00 7.06243379e+01] [-3.02468450e-03 9.99995426e-01 0.00000000e+00 -1.29417787e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.25033213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.175336195 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:70.65, Y:-0.13, Z:-0.04 [[ 9.99967355e-01 8.08016505e-03 0.00000000e+00 7.06532599e+01] [-8.08016505e-03 9.99967355e-01 0.00000000e+00 -1.28014882e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46592267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.205336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:70.68, Y:-0.13, Z:-0.05 [[ 9.99975914e-01 6.94063086e-03 0.00000000e+00 7.06820463e+01] [-6.94063086e-03 9.99975914e-01 0.00000000e+00 -1.34638395e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.92595840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.235336195 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:70.71, Y:-0.14, Z:-0.06 [[ 9.99965152e-01 8.34828991e-03 0.00000000e+00 7.07097858e+01] [-8.34828991e-03 9.99965152e-01 0.00000000e+00 -1.35619153e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54140461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:70.74, Y:-0.14, Z:-0.06 [[ 9.99970169e-01 7.72405425e-03 0.00000000e+00 7.07386183e+01] [-7.72405425e-03 9.99970169e-01 0.00000000e+00 -1.36516837e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.58097056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29533619499999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:70.77, Y:-0.14, Z:-0.06 [[ 9.99973357e-01 7.29962826e-03 0.00000000e+00 7.07663169e+01] [-7.29962826e-03 9.99973357e-01 0.00000000e+00 -1.36508840e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.57688883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32533619499999 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:70.79, Y:-0.14, Z:-0.05 [[ 9.99971545e-01 7.54378675e-03 0.00000000e+00 7.07941680e+01] [-7.54378675e-03 9.99971545e-01 0.00000000e+00 -1.35827382e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29304607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35533619499999 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:70.82, Y:-0.13, Z:-0.04 [[ 9.99958381e-01 9.12344325e-03 0.00000000e+00 7.08227007e+01] [-9.12344325e-03 9.99958381e-01 0.00000000e+00 -1.33361560e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33707556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.385336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:70.85, Y:-0.13, Z:-0.04 [[ 9.99945742e-01 1.04169631e-02 0.00000000e+00 7.08515104e+01] [-1.04169631e-02 9.99945742e-01 0.00000000e+00 -1.32032788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.93743954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.415336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:70.88, Y:-0.13, Z:-0.04 [[ 9.99929683e-01 1.18587067e-02 0.00000000e+00 7.08796121e+01] [-1.18587067e-02 9.99929683e-01 0.00000000e+00 -1.31465134e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00096360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.91, Y:-0.13, Z:-0.05 [[ 9.99924128e-01 1.23182222e-02 0.00000000e+00 7.09074235e+01] [-1.23182222e-02 9.99924128e-01 0.00000000e+00 -1.33298440e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57596939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.93, Y:-0.14, Z:-0.05 [[ 9.99907286e-01 1.36168556e-02 0.00000000e+00 7.09348564e+01] [-1.36168556e-02 9.99907286e-01 0.00000000e+00 -1.35737761e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.14575465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.505336195 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:70.96, Y:-0.14, Z:-0.06 [[ 9.99913943e-01 1.31189032e-02 0.00000000e+00 7.09628314e+01] [-1.31189032e-02 9.99913943e-01 0.00000000e+00 -1.36358344e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.91603847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.535336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:70.99, Y:-0.13, Z:-0.04 [[ 9.99896969e-01 1.43545225e-02 0.00000000e+00 7.09917067e+01] [-1.43545225e-02 9.99896969e-01 0.00000000e+00 -1.31446946e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33429995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.565336195 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:71.02, Y:-0.13, Z:-0.04 [[ 9.99900010e-01 1.41411050e-02 0.00000000e+00 7.10193335e+01] [-1.41411050e-02 9.99900010e-01 0.00000000e+00 -1.27992569e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92136438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.595336195 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:71.05, Y:-0.13, Z:-0.04 [[ 9.99903835e-01 1.38679974e-02 0.00000000e+00 7.10468726e+01] [-1.38679974e-02 9.99903835e-01 0.00000000e+00 -1.26765209e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63207473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.08, Y:-0.13, Z:-0.04 [[ 9.99902667e-01 1.39519056e-02 0.00000000e+00 7.10756564e+01] [-1.39519056e-02 9.99902667e-01 0.00000000e+00 -1.29300218e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86543247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.10, Y:-0.13, Z:-0.05 [[ 9.99868201e-01 1.62351698e-02 0.00000000e+00 7.11036254e+01] [-1.62351698e-02 9.99868201e-01 0.00000000e+00 -1.34500535e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57027701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68533619499999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:71.13, Y:-0.14, Z:-0.04 [[ 9.99838285e-01 1.79834130e-02 0.00000000e+00 7.11322613e+01] [-1.79834130e-02 9.99838285e-01 0.00000000e+00 -1.35284590e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35913519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.16, Y:-0.13, Z:-0.03 [[ 9.99795447e-01 2.02253153e-02 0.00000000e+00 7.11595102e+01] [-2.02253153e-02 9.99795447e-01 0.00000000e+00 -1.29412891e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92577286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.745336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:71.19, Y:-0.13, Z:-0.02 [[ 9.99774804e-01 2.12212461e-02 0.00000000e+00 7.11885152e+01] [-2.12212461e-02 9.99774804e-01 0.00000000e+00 -1.26130458e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25080044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.22, Y:-0.13, Z:-0.03 [[ 9.99769283e-01 2.14797709e-02 0.00000000e+00 7.12174270e+01] [-2.14797709e-02 9.99769283e-01 0.00000000e+00 -1.27876331e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76524577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.25, Y:-0.13, Z:-0.04 [[ 9.99768355e-01 2.15229066e-02 0.00000000e+00 7.12457382e+01] [-2.15229066e-02 9.99768355e-01 0.00000000e+00 -1.31758948e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53258138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.835336195 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:71.29, Y:-0.14, Z:-0.04 [[ 9.99848741e-01 1.73923618e-02 0.00000000e+00 7.12911914e+01] [-1.73923618e-02 9.99848741e-01 0.00000000e+00 -1.38481414e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08283229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.30, Y:-0.13, Z:-0.04 [[ 9.99721702e-01 2.35906638e-02 0.00000000e+00 7.12992990e+01] [-2.35906638e-02 9.99721702e-01 0.00000000e+00 -1.33217095e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89260476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.33, Y:-0.13, Z:-0.03 [[ 9.99693997e-01 2.47368525e-02 0.00000000e+00 7.13276833e+01] [-2.47368525e-02 9.99693997e-01 0.00000000e+00 -1.29049173e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05541010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.925336195 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:71.36, Y:-0.13, Z:-0.03 [[ 9.99667859e-01 2.57715375e-02 0.00000000e+00 7.13557219e+01] [-2.57715375e-02 9.99667859e-01 0.00000000e+00 -1.29318096e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86817104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.955336195 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:71.40, Y:-0.14, Z:-0.04 [[ 9.99737232e-01 2.29230609e-02 0.00000000e+00 7.14031749e+01] [-2.29230609e-02 9.99737232e-01 0.00000000e+00 -1.36585412e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90322503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.41, Y:-0.13, Z:-0.04 [[ 9.99602965e-01 2.81764479e-02 0.00000000e+00 7.14106149e+01] [-2.81764479e-02 9.99602965e-01 0.00000000e+00 -1.34177772e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.14110609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.46, Y:-0.14, Z:-0.04 [[ 9.99795202e-01 2.02374285e-02 0.00000000e+00 7.14582917e+01] [-2.02374285e-02 9.99795202e-01 0.00000000e+00 -1.37627343e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.69629383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:71.47, Y:-0.13, Z:-0.04 [[ 9.99679387e-01 2.53203946e-02 0.00000000e+00 7.14659866e+01] [-2.53203946e-02 9.99679387e-01 0.00000000e+00 -1.33994834e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04413177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.49, Y:-0.13, Z:-0.04 [[ 9.99677190e-01 2.54070147e-02 0.00000000e+00 7.14946586e+01] [-2.54070147e-02 9.99677190e-01 0.00000000e+00 -1.33896140e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92390987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.52, Y:-0.13, Z:-0.04 [[ 9.99671209e-01 2.56412723e-02 0.00000000e+00 7.15236341e+01] [-2.56412723e-02 9.99671209e-01 0.00000000e+00 -1.34266842e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84694736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.55, Y:-0.13, Z:-0.04 [[ 9.99680104e-01 2.52920962e-02 0.00000000e+00 7.15514279e+01] [-2.52920962e-02 9.99680104e-01 0.00000000e+00 -1.34358615e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73778222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.58, Y:-0.13, Z:-0.03 [[ 9.99692643e-01 2.47915193e-02 0.00000000e+00 7.15797568e+01] [-2.47915193e-02 9.99692643e-01 0.00000000e+00 -1.33223212e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16104517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.195336195 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:71.61, Y:-0.13, Z:-0.02 [[ 9.99712375e-01 2.39826522e-02 0.00000000e+00 7.16071735e+01] [-2.39826522e-02 9.99712375e-01 0.00000000e+00 -1.30302022e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35886556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.66, Y:-0.13, Z:-0.02 [[ 9.99849474e-01 1.73502029e-02 0.00000000e+00 7.16568348e+01] [-1.73502029e-02 9.99849474e-01 0.00000000e+00 -1.34293020e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24328543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.66, Y:-0.13, Z:-0.03 [[ 9.99779016e-01 2.10218582e-02 0.00000000e+00 7.16623029e+01] [-2.10218582e-02 9.99779016e-01 0.00000000e+00 -1.32949672e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.11635282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.69, Y:-0.13, Z:-0.03 [[ 9.99784709e-01 2.07493371e-02 0.00000000e+00 7.16895554e+01] [-2.07493371e-02 9.99784709e-01 0.00000000e+00 -1.33556478e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32770704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.72, Y:-0.13, Z:-0.03 [[ 9.99798619e-01 2.00679353e-02 0.00000000e+00 7.17172199e+01] [-2.00679353e-02 9.99798619e-01 0.00000000e+00 -1.31821387e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89028912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.345336195 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:71.74, Y:-0.13, Z:-0.03 [[ 9.99813460e-01 1.93143666e-02 0.00000000e+00 7.17447253e+01] [-1.93143666e-02 9.99813460e-01 0.00000000e+00 -1.31246976e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78975934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37533619499999 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:71.79, Y:-0.14, Z:-0.03 [[ 9.99875808e-01 1.57597216e-02 0.00000000e+00 7.17922622e+01] [-1.57597216e-02 9.99875808e-01 0.00000000e+00 -1.36149019e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62951254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40533619499999 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:71.82, Y:-0.14, Z:-0.03 [[ 9.99884831e-01 1.51764803e-02 0.00000000e+00 7.18197855e+01] [-1.51764803e-02 9.99884831e-01 0.00000000e+00 -1.36032452e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62951254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.83, Y:-0.13, Z:-0.03 [[ 9.99790381e-01 2.04742419e-02 0.00000000e+00 7.18261207e+01] [-2.04742419e-02 9.99790381e-01 0.00000000e+00 -1.32914638e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21657616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46533619499999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:71.85, Y:-0.14, Z:-0.04 [[ 9.99755660e-01 2.21047724e-02 0.00000000e+00 7.18542072e+01] [-2.21047724e-02 9.99755660e-01 0.00000000e+00 -1.35122500e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59400461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.495336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:71.88, Y:-0.14, Z:-0.03 [[ 9.99754467e-01 2.21586498e-02 0.00000000e+00 7.18822383e+01] [-2.21586498e-02 9.99754467e-01 0.00000000e+00 -1.35782876e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45769376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.525336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:71.91, Y:-0.13, Z:-0.03 [[ 9.99731031e-01 2.31919313e-02 0.00000000e+00 7.19099793e+01] [-2.31919313e-02 9.99731031e-01 0.00000000e+00 -1.33470998e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69314258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.555336195 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:71.94, Y:-0.13, Z:-0.02 [[ 9.99733147e-01 2.31005315e-02 0.00000000e+00 7.19380454e+01] [-2.31005315e-02 9.99733147e-01 0.00000000e+00 -1.31887167e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25481617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.585336195 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:71.97, Y:-0.13, Z:-0.02 [[ 9.99717665e-01 2.37611156e-02 0.00000000e+00 7.19661934e+01] [-2.37611156e-02 9.99717665e-01 0.00000000e+00 -1.32323553e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29822001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.615336195 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:71.99, Y:-0.13, Z:-0.03 [[ 9.99728190e-01 2.33140643e-02 0.00000000e+00 7.19943246e+01] [-2.33140643e-02 9.99728190e-01 0.00000000e+00 -1.34968651e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67261000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.02, Y:-0.14, Z:-0.03 [[ 9.99731674e-01 2.31641898e-02 0.00000000e+00 7.20220145e+01] [-2.31641898e-02 9.99731674e-01 0.00000000e+00 -1.36433669e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92353167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.675336195 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:72.05, Y:-0.14, Z:-0.03 [[ 9.99734065e-01 2.30607614e-02 0.00000000e+00 7.20496188e+01] [-2.30607614e-02 9.99734065e-01 0.00000000e+00 -1.35972192e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97378486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.705336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:72.08, Y:-0.14, Z:-0.03 [[ 9.99744037e-01 2.26243530e-02 0.00000000e+00 7.20771353e+01] [-2.26243530e-02 9.99744037e-01 0.00000000e+00 -1.36115931e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17851093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.735336195 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:72.10, Y:-0.14, Z:-0.03 [[ 9.99736768e-01 2.29432950e-02 0.00000000e+00 7.21035049e+01] [-2.29432950e-02 9.99736768e-01 0.00000000e+00 -1.35626085e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08151135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.13, Y:-0.13, Z:-0.03 [[ 9.99725984e-01 2.34084816e-02 0.00000000e+00 7.21325977e+01] [-2.34084816e-02 9.99725984e-01 0.00000000e+00 -1.32844621e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50084027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.16, Y:-0.13, Z:-0.03 [[ 9.99745542e-01 2.25577349e-02 0.00000000e+00 7.21607933e+01] [-2.25577349e-02 9.99745542e-01 0.00000000e+00 -1.32170229e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57794958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82533619499999 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:72.19, Y:-0.14, Z:-0.03 [[ 9.99725927e-01 2.34109304e-02 0.00000000e+00 7.21882295e+01] [-2.34109304e-02 9.99725927e-01 0.00000000e+00 -1.35664597e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21267087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:72.22, Y:-0.14, Z:-0.04 [[ 9.99714335e-01 2.39007997e-02 0.00000000e+00 7.22162664e+01] [-2.39007997e-02 9.99714335e-01 0.00000000e+00 -1.37220033e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50951709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.24, Y:-0.14, Z:-0.04 [[ 9.99678169e-01 2.53684685e-02 0.00000000e+00 7.22446646e+01] [-2.53684685e-02 9.99678169e-01 0.00000000e+00 -1.37940027e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50572164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.915336195 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:72.27, Y:-0.14, Z:-0.03 [[ 9.99674165e-01 2.55257413e-02 0.00000000e+00 7.22722471e+01] [-2.55257413e-02 9.99674165e-01 0.00000000e+00 -1.36859813e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10046084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.945336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:72.30, Y:-0.13, Z:-0.02 [[ 9.99627825e-01 2.72802246e-02 0.00000000e+00 7.23009221e+01] [-2.72802246e-02 9.99627825e-01 0.00000000e+00 -1.33306307e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89937129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.975336195 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:72.33, Y:-0.13, Z:-0.02 [[ 9.99617238e-01 2.76654525e-02 0.00000000e+00 7.23284868e+01] [-2.76654525e-02 9.99617238e-01 0.00000000e+00 -1.33052135e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77893388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.36, Y:-0.14, Z:-0.02 [[ 9.99609325e-01 2.79499082e-02 0.00000000e+00 7.23554332e+01] [-2.79499082e-02 9.99609325e-01 0.00000000e+00 -1.36050550e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41880454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.035336195 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:72.38, Y:-0.14, Z:-0.03 [[ 9.99631705e-01 2.71376867e-02 0.00000000e+00 7.23828203e+01] [-2.71376867e-02 9.99631705e-01 0.00000000e+00 -1.37385364e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64134576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.065336195 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:72.41, Y:-0.14, Z:-0.03 [[ 9.99624345e-01 2.74074551e-02 0.00000000e+00 7.24108550e+01] [-2.74074551e-02 9.99624345e-01 0.00000000e+00 -1.37822285e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62214949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.095336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:72.44, Y:-0.14, Z:-0.02 [[ 9.99673316e-01 2.55589852e-02 0.00000000e+00 7.24376977e+01] [-2.55589852e-02 9.99673316e-01 0.00000000e+00 -1.35665778e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08405729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.47, Y:-0.13, Z:-0.02 [[ 9.99711092e-01 2.40360637e-02 0.00000000e+00 7.24654521e+01] [-2.40360637e-02 9.99711092e-01 0.00000000e+00 -1.33926011e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93102124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:72.49, Y:-0.13, Z:-0.02 [[ 9.99718821e-01 2.37124413e-02 0.00000000e+00 7.24926649e+01] [-2.37124413e-02 9.99718821e-01 0.00000000e+00 -1.33387499e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71576828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18533619499999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:72.52, Y:-0.13, Z:-0.01 [[ 9.99709137e-01 2.41172238e-02 0.00000000e+00 7.25207260e+01] [-2.41172238e-02 9.99709137e-01 0.00000000e+00 -1.32445187e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43293710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.55, Y:-0.13, Z:-0.01 [[ 9.99727589e-01 2.33398510e-02 0.00000000e+00 7.25476720e+01] [-2.33398510e-02 9.99727589e-01 0.00000000e+00 -1.31979911e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32059033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.57, Y:-0.13, Z:-0.02 [[ 9.99724141e-01 2.34870594e-02 0.00000000e+00 7.25748285e+01] [-2.34870594e-02 9.99724141e-01 0.00000000e+00 -1.33913734e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61463867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.275336195 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:72.60, Y:-0.14, Z:-0.02 [[ 9.99700364e-01 2.44781972e-02 0.00000000e+00 7.26027712e+01] [-2.44781972e-02 9.99700364e-01 0.00000000e+00 -1.37251929e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30255757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.63, Y:-0.14, Z:-0.03 [[ 9.99676594e-01 2.54304426e-02 0.00000000e+00 7.26300973e+01] [-2.54304426e-02 9.99676594e-01 0.00000000e+00 -1.38998981e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58174823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.335336195 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:72.66, Y:-0.14, Z:-0.03 [[ 9.99643565e-01 2.66972644e-02 0.00000000e+00 7.26570952e+01] [-2.66972644e-02 9.99643565e-01 0.00000000e+00 -1.39343919e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58359899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.69, Y:-0.14, Z:-0.02 [[ 9.99574726e-01 2.91610389e-02 0.00000000e+00 7.26851814e+01] [-2.91610389e-02 9.99574726e-01 0.00000000e+00 -1.38594468e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30260061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.395336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:72.71, Y:-0.14, Z:-0.02 [[ 9.99519200e-01 3.10059493e-02 0.00000000e+00 7.27120922e+01] [-3.10059493e-02 9.99519200e-01 0.00000000e+00 -1.37137911e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08594268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.74, Y:-0.14, Z:-0.02 [[ 9.99533087e-01 3.05550128e-02 0.00000000e+00 7.27394221e+01] [-3.05550128e-02 9.99533087e-01 0.00000000e+00 -1.36604634e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01383783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.77, Y:-0.14, Z:-0.02 [[ 9.99566208e-01 2.94515761e-02 0.00000000e+00 7.27664844e+01] [-2.94515761e-02 9.99566208e-01 0.00000000e+00 -1.35767112e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02085799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.485336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:72.79, Y:-0.14, Z:-0.02 [[ 9.99621334e-01 2.75170454e-02 0.00000000e+00 7.27938842e+01] [-2.75170454e-02 9.99621334e-01 0.00000000e+00 -1.36337113e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24114823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.82, Y:-0.14, Z:-0.03 [[ 9.99691116e-01 2.48530151e-02 0.00000000e+00 7.28215088e+01] [-2.48530151e-02 9.99691116e-01 0.00000000e+00 -1.39960100e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15684334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.85, Y:-0.14, Z:-0.04 [[ 9.99721007e-01 2.36200972e-02 0.00000000e+00 7.28495970e+01] [-2.36200972e-02 9.99721007e-01 0.00000000e+00 -1.42691630e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64258048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57533619499999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:72.88, Y:-0.14, Z:-0.03 [[ 9.99735775e-01 2.29865235e-02 0.00000000e+00 7.28784822e+01] [-2.29865235e-02 9.99735775e-01 0.00000000e+00 -1.42993757e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36084905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.91, Y:-0.14, Z:-0.03 [[ 9.99770943e-01 2.14023840e-02 0.00000000e+00 7.29052375e+01] [-2.14023840e-02 9.99770943e-01 0.00000000e+00 -1.41343619e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98351069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.93, Y:-0.14, Z:-0.03 [[ 9.99815758e-01 1.91950774e-02 0.00000000e+00 7.29337583e+01] [-1.91950774e-02 9.99815758e-01 0.00000000e+00 -1.41025240e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13764425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.665336195 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:72.96, Y:-0.14, Z:-0.04 [[ 9.99823152e-01 1.88059505e-02 0.00000000e+00 7.29611830e+01] [-1.88059505e-02 9.99823152e-01 0.00000000e+00 -1.42040567e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.52046800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.00, Y:-0.15, Z:-0.04 [[ 9.99883379e-01 1.52718243e-02 0.00000000e+00 7.29988719e+01] [-1.52718243e-02 9.99883379e-01 0.00000000e+00 -1.45793481e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90882984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.725336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:73.02, Y:-0.14, Z:-0.04 [[ 9.99888921e-01 1.49045368e-02 0.00000000e+00 7.30184659e+01] [-1.49045368e-02 9.99888921e-01 0.00000000e+00 -1.42396892e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17278800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.755336195 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:73.05, Y:-0.14, Z:-0.04 [[ 9.99909501e-01 1.34532630e-02 0.00000000e+00 7.30466040e+01] [-1.34532630e-02 9.99909501e-01 0.00000000e+00 -1.43454941e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44728476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.785336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:73.07, Y:-0.14, Z:-0.04 [[ 9.99899432e-01 1.41818599e-02 0.00000000e+00 7.30747572e+01] [-1.41818599e-02 9.99899432e-01 0.00000000e+00 -1.43132682e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35233656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.11, Y:-0.15, Z:-0.04 [[ 9.99893255e-01 1.46108898e-02 0.00000000e+00 7.31128305e+01] [-1.46108898e-02 9.99893255e-01 0.00000000e+00 -1.47850140e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05805281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.845336195 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:73.13, Y:-0.14, Z:-0.04 [[ 9.99876733e-01 1.57009392e-02 0.00000000e+00 7.31313254e+01] [-1.57009392e-02 9.99876733e-01 0.00000000e+00 -1.43778693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98549454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.16, Y:-0.14, Z:-0.04 [[ 9.99849212e-01 1.73653039e-02 0.00000000e+00 7.31600657e+01] [-1.73653039e-02 9.99849212e-01 0.00000000e+00 -1.43676770e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50458796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:73.19, Y:-0.14, Z:-0.03 [[ 9.99845094e-01 1.76007787e-02 0.00000000e+00 7.31879151e+01] [-1.76007787e-02 9.99845094e-01 0.00000000e+00 -1.43342034e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37375065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.21, Y:-0.14, Z:-0.03 [[ 9.99852058e-01 1.72006616e-02 0.00000000e+00 7.32144259e+01] [-1.72006616e-02 9.99852058e-01 0.00000000e+00 -1.42925190e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13964829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:73.24, Y:-0.14, Z:-0.03 [[ 9.99857315e-01 1.68923070e-02 0.00000000e+00 7.32418500e+01] [-1.68923070e-02 9.99857315e-01 0.00000000e+00 -1.43653683e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.11137180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.29, Y:-0.16, Z:-0.04 [[ 9.99853831e-01 1.70972723e-02 0.00000000e+00 7.32893856e+01] [-1.70972723e-02 9.99853831e-01 0.00000000e+00 -1.55645808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63646460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.31, Y:-0.15, Z:-0.04 [[ 9.99885735e-01 1.51167441e-02 0.00000000e+00 7.33119602e+01] [-1.51167441e-02 9.99885735e-01 0.00000000e+00 -1.52417919e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81714880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.055336195 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:73.33, Y:-0.15, Z:-0.04 [[ 9.99917989e-01 1.28068377e-02 0.00000000e+00 7.33261429e+01] [-1.28068377e-02 9.99917989e-01 0.00000000e+00 -1.46045721e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63920950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.085336195 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:73.35, Y:-0.15, Z:-0.04 [[ 9.99940836e-01 1.08776668e-02 0.00000000e+00 7.33539573e+01] [-1.08776668e-02 9.99940836e-01 0.00000000e+00 -1.46601255e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.61943885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.40, Y:-0.16, Z:-0.04 [[ 9.99943237e-01 1.06546726e-02 0.00000000e+00 7.34017923e+01] [-1.06546726e-02 9.99943237e-01 0.00000000e+00 -1.55505649e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.68646977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.145336195 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:73.41, Y:-0.15, Z:-0.05 [[ 9.99963646e-01 8.52679244e-03 0.00000000e+00 7.34128581e+01] [-8.52679244e-03 9.99963646e-01 0.00000000e+00 -1.50529072e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58077398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.175336195 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:73.44, Y:-0.15, Z:-0.05 [[ 9.99961811e-01 8.73934082e-03 0.00000000e+00 7.34419455e+01] [-8.73934082e-03 9.99961811e-01 0.00000000e+00 -1.52921658e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83516191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.205336195 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:73.47, Y:-0.15, Z:-0.05 [[ 9.99951825e-01 9.81564115e-03 0.00000000e+00 7.34696517e+01] [-9.81564115e-03 9.99951825e-01 0.00000000e+00 -1.53780538e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.81281640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.235336195 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:73.50, Y:-0.15, Z:-0.04 [[ 9.99956052e-01 9.37522663e-03 0.00000000e+00 7.34962695e+01] [-9.37522663e-03 9.99956052e-01 0.00000000e+00 -1.51351350e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20274249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26533619499999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:73.52, Y:-0.15, Z:-0.04 [[ 9.99932865e-01 1.15872829e-02 0.00000000e+00 7.35240065e+01] [-1.15872829e-02 9.99932865e-01 0.00000000e+00 -1.47933079e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67731450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.57, Y:-0.15, Z:-0.04 [[ 9.99967867e-01 8.01655129e-03 0.00000000e+00 7.35674626e+01] [-8.01655129e-03 9.99967867e-01 0.00000000e+00 -1.54159070e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08067919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.60, Y:-0.15, Z:-0.04 [[ 9.99970557e-01 7.67372556e-03 0.00000000e+00 7.35952303e+01] [-7.67372556e-03 9.99970557e-01 0.00000000e+00 -1.53856248e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08067919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:73.61, Y:-0.16, Z:-0.05 [[ 9.99950921e-01 9.90731377e-03 0.00000000e+00 7.36080008e+01] [-9.90731377e-03 9.99950921e-01 0.00000000e+00 -1.57476540e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80083399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.385336195 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:73.64, Y:-0.15, Z:-0.05 [[ 9.99885033e-01 1.51631113e-02 0.00000000e+00 7.36366627e+01] [-1.51631113e-02 9.99885033e-01 0.00000000e+00 -1.52714554e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59525854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.68, Y:-0.16, Z:-0.04 [[ 9.99927573e-01 1.20353543e-02 0.00000000e+00 7.36841989e+01] [-1.20353543e-02 9.99927573e-01 0.00000000e+00 -1.56305724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34433664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.445336195 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:73.69, Y:-0.15, Z:-0.04 [[ 9.99825673e-01 1.86714892e-02 0.00000000e+00 7.36940960e+01] [-1.86714892e-02 9.99825673e-01 0.00000000e+00 -1.51365794e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47810067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.475336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:73.74, Y:-0.15, Z:-0.04 [[ 9.99874031e-01 1.58720451e-02 0.00000000e+00 7.37428540e+01] [-1.58720451e-02 9.99874031e-01 0.00000000e+00 -1.53064371e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80510366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.77, Y:-0.15, Z:-0.04 [[ 9.99852252e-01 1.71893487e-02 0.00000000e+00 7.37710183e+01] [-1.71893487e-02 9.99852252e-01 0.00000000e+00 -1.54270535e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17448322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.81, Y:-0.16, Z:-0.05 [[ 9.99751106e-01 2.23097718e-02 0.00000000e+00 7.38056576e+01] [-2.23097718e-02 9.99751106e-01 0.00000000e+00 -1.61471325e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75901373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.565336195 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:73.83, Y:-0.16, Z:-0.05 [[ 9.99766145e-01 2.16253321e-02 0.00000000e+00 7.38302111e+01] [-2.16253321e-02 9.99766145e-01 0.00000000e+00 -1.56134622e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.74926139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.595336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:73.86, Y:-0.15, Z:-0.04 [[ 9.99764182e-01 2.17159058e-02 0.00000000e+00 7.38570398e+01] [-2.17159058e-02 9.99764182e-01 0.00000000e+00 -1.52484877e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94416877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.88, Y:-0.15, Z:-0.04 [[ 9.99757648e-01 2.20146726e-02 0.00000000e+00 7.38837799e+01] [-2.20146726e-02 9.99757648e-01 0.00000000e+00 -1.51943014e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22632817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.92, Y:-0.16, Z:-0.04 [[ 9.99628432e-01 2.72580065e-02 0.00000000e+00 7.39181874e+01] [-2.72580065e-02 9.99628432e-01 0.00000000e+00 -1.57686782e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36253599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.94, Y:-0.15, Z:-0.04 [[ 9.99686660e-01 2.50316296e-02 0.00000000e+00 7.39394645e+01] [-2.50316296e-02 9.99686660e-01 0.00000000e+00 -1.51735267e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18781269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.94, Y:-0.14, Z:-0.04 [[ 9.99484570e-01 3.21028738e-02 0.00000000e+00 7.39428109e+01] [-3.21028738e-02 9.99484570e-01 0.00000000e+00 -1.43849385e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84263287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.00, Y:-0.15, Z:-0.04 [[ 9.99607672e-01 2.80089532e-02 0.00000000e+00 7.40004757e+01] [-2.80089532e-02 9.99607672e-01 0.00000000e+00 -1.51506618e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67457010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.02, Y:-0.15, Z:-0.04 [[ 9.99698137e-01 2.45689740e-02 0.00000000e+00 7.40223945e+01] [-2.45689740e-02 9.99698137e-01 0.00000000e+00 -1.47575860e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28826673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.05, Y:-0.16, Z:-0.05 [[ 9.99525748e-01 3.07941543e-02 0.00000000e+00 7.40456291e+01] [-3.07941543e-02 9.99525748e-01 0.00000000e+00 -1.55090551e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.51048779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.08, Y:-0.15, Z:-0.05 [[ 9.99636980e-01 2.69426773e-02 0.00000000e+00 7.40835373e+01] [-2.69426773e-02 9.99636980e-01 0.00000000e+00 -1.51325381e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60989415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.11, Y:-0.15, Z:-0.04 [[ 9.99630918e-01 2.71666722e-02 0.00000000e+00 7.41114337e+01] [-2.71666722e-02 9.99630918e-01 0.00000000e+00 -1.46619414e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86946030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.895336195 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:74.14, Y:-0.14, Z:-0.03 [[ 9.99693828e-01 2.47436816e-02 0.00000000e+00 7.41367538e+01] [-2.47436816e-02 9.99693828e-01 0.00000000e+00 -1.41023514e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83839516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.16, Y:-0.15, Z:-0.04 [[ 9.99545057e-01 3.01608879e-02 0.00000000e+00 7.41559983e+01] [-3.01608879e-02 9.99545057e-01 0.00000000e+00 -1.46977055e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01664302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.955336195 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:74.20, Y:-0.14, Z:-0.04 [[ 9.99717210e-01 2.37802621e-02 0.00000000e+00 7.41952707e+01] [-2.37802621e-02 9.99717210e-01 0.00000000e+00 -1.44190131e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44025295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.22, Y:-0.14, Z:-0.04 [[ 9.99725844e-01 2.34144644e-02 0.00000000e+00 7.42243711e+01] [-2.34144644e-02 9.99725844e-01 0.00000000e+00 -1.42365732e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32917646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.25, Y:-0.14, Z:-0.03 [[ 9.99789738e-01 2.05055909e-02 0.00000000e+00 7.42495205e+01] [-2.05055909e-02 9.99789738e-01 0.00000000e+00 -1.37219766e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44447788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.27, Y:-0.13, Z:-0.03 [[ 9.99828073e-01 1.85425075e-02 0.00000000e+00 7.42747729e+01] [-1.85425075e-02 9.99828073e-01 0.00000000e+00 -1.33908269e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02146816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:74.30, Y:-0.13, Z:-0.03 [[ 9.99867197e-01 1.62968914e-02 0.00000000e+00 7.43023971e+01] [-1.62968914e-02 9.99867197e-01 0.00000000e+00 -1.31562043e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06469005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10533619499999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:74.33, Y:-0.13, Z:-0.04 [[ 9.99910468e-01 1.33811978e-02 0.00000000e+00 7.43300124e+01] [-1.33811978e-02 9.99910468e-01 0.00000000e+00 -1.28695118e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86700951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.36, Y:-0.13, Z:-0.04 [[ 9.99925274e-01 1.22248072e-02 0.00000000e+00 7.43584750e+01] [-1.22248072e-02 9.99925274e-01 0.00000000e+00 -1.34291582e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.29062074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.38, Y:-0.13, Z:-0.05 [[ 9.99946902e-01 1.03050021e-02 0.00000000e+00 7.43843502e+01] [-1.03050021e-02 9.99946902e-01 0.00000000e+00 -1.34777616e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59628418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.40, Y:-0.14, Z:-0.04 [[ 9.99899204e-01 1.41979836e-02 0.00000000e+00 7.44002048e+01] [-1.41979836e-02 9.99899204e-01 0.00000000e+00 -1.36558402e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.13087452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.44, Y:-0.12, Z:-0.03 [[ 9.99961222e-01 8.80655753e-03 0.00000000e+00 7.44416994e+01] [-8.80655753e-03 9.99961222e-01 0.00000000e+00 -1.24398664e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53346874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.47, Y:-0.12, Z:-0.02 [[ 9.99961700e-01 8.75202447e-03 0.00000000e+00 7.44681939e+01] [-8.75202447e-03 9.99961700e-01 0.00000000e+00 -1.19233748e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04747473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.49, Y:-0.12, Z:-0.03 [[ 9.99961766e-01 8.74448990e-03 0.00000000e+00 7.44938144e+01] [-8.74448990e-03 9.99961766e-01 0.00000000e+00 -1.18898337e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58213897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.52, Y:-0.12, Z:-0.03 [[ 9.99968778e-01 7.90213643e-03 0.00000000e+00 7.45199518e+01] [-7.90213643e-03 9.99968778e-01 0.00000000e+00 -1.19236897e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97641093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.345336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.55, Y:-0.12, Z:-0.04 [[ 9.99975520e-01 6.99712149e-03 0.00000000e+00 7.45481792e+01] [-6.99712149e-03 9.99975520e-01 0.00000000e+00 -1.20706209e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60761761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.58, Y:-0.12, Z:-0.04 [[ 9.99980995e-01 6.16515799e-03 0.00000000e+00 7.45786386e+01] [-6.16515799e-03 9.99980995e-01 0.00000000e+00 -1.20098450e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77317481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.60, Y:-0.12, Z:-0.04 [[ 9.99986470e-01 5.20193222e-03 0.00000000e+00 7.46013319e+01] [-5.20193222e-03 9.99986470e-01 0.00000000e+00 -1.17648531e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.52865258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.63, Y:-0.12, Z:-0.04 [[ 9.99987086e-01 5.08205865e-03 0.00000000e+00 7.46307661e+01] [-5.08205865e-03 9.99987086e-01 0.00000000e+00 -1.15911326e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.68525223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.66, Y:-0.11, Z:-0.04 [[ 9.99987498e-01 5.00030861e-03 0.00000000e+00 7.46596014e+01] [-5.00030861e-03 9.99987498e-01 0.00000000e+00 -1.14817760e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62773330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.69, Y:-0.11, Z:-0.03 [[ 9.99978268e-01 6.59267230e-03 0.00000000e+00 7.46870361e+01] [-6.59267230e-03 9.99978268e-01 0.00000000e+00 -1.09126150e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95081350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.71, Y:-0.11, Z:-0.03 [[ 9.99989314e-01 4.62298896e-03 0.00000000e+00 7.47121158e+01] [-4.62298896e-03 9.99989314e-01 0.00000000e+00 -1.06222032e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77816839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.74, Y:-0.11, Z:-0.03 [[ 9.99996040e-01 2.81435881e-03 0.00000000e+00 7.47391640e+01] [-2.81435881e-03 9.99996040e-01 0.00000000e+00 -1.06334371e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01609416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.77, Y:-0.11, Z:-0.03 [[ 9.99998281e-01 1.85401736e-03 0.00000000e+00 7.47658843e+01] [-1.85401736e-03 9.99998281e-01 0.00000000e+00 -1.06050969e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40466935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.79, Y:-0.11, Z:-0.04 [[ 9.99999996e-01 8.86608557e-05 0.00000000e+00 7.47937783e+01] [-8.86608557e-05 9.99999996e-01 0.00000000e+00 -1.07948458e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30548340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.82, Y:-0.11, Z:-0.04 [[ 9.99997789e-01 -2.10290084e-03 0.00000000e+00 7.48232428e+01] [ 2.10290084e-03 9.99997789e-01 0.00000000e+00 -1.06471895e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27275104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.85, Y:-0.10, Z:-0.04 [[ 9.99996948e-01 -2.47046371e-03 0.00000000e+00 7.48534503e+01] [ 2.47046371e-03 9.99996948e-01 0.00000000e+00 -1.02617168e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60572127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.89, Y:-0.10, Z:-0.03 [[ 9.99996183e-01 -2.76305397e-03 0.00000000e+00 7.48850380e+01] [ 2.76305397e-03 9.99996183e-01 0.00000000e+00 -9.80412629e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06924247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.92, Y:-0.10, Z:-0.03 [[ 9.99996137e-01 -2.77966209e-03 0.00000000e+00 7.49166244e+01] [ 2.77966209e-03 9.99996137e-01 0.00000000e+00 -9.51806757e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80481897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.95, Y:-0.09, Z:-0.03 [[ 9.99993941e-01 -3.48111915e-03 0.00000000e+00 7.49456452e+01] [ 3.48111915e-03 9.99993941e-01 0.00000000e+00 -9.29374469e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96345255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.96, Y:-0.09, Z:-0.03 [[ 9.99999760e-01 6.93166172e-04 0.00000000e+00 7.49631596e+01] [-6.93166172e-04 9.99999760e-01 0.00000000e+00 -9.47598979e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57329903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82533619499999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:75.01, Y:-0.09, Z:-0.03 [[ 9.99979513e-01 -6.40106613e-03 0.00000000e+00 7.50113204e+01] [ 6.40106613e-03 9.99979513e-01 0.00000000e+00 -9.04312278e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.25737415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85533619499999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:75.00, Y:-0.09, Z:-0.04 [[ 9.99995767e-01 2.90958199e-03 0.00000000e+00 7.50035013e+01] [-2.90958199e-03 9.99995767e-01 0.00000000e+00 -9.14184652e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.75627031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.05, Y:-0.10, Z:-0.04 [[ 9.99999130e-01 1.31916635e-03 0.00000000e+00 7.50458448e+01] [-1.31916635e-03 9.99999130e-01 0.00000000e+00 -9.61274092e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67282887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.915336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:75.08, Y:-0.09, Z:-0.04 [[ 1.00000000e+00 -2.22694883e-05 0.00000000e+00 7.50769095e+01] [ 2.22694883e-05 1.00000000e+00 0.00000000e+00 -9.43491647e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56798011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.945336195 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:75.09, Y:-0.09, Z:-0.04 [[ 9.99992107e-01 3.97310770e-03 0.00000000e+00 7.50902829e+01] [-3.97310770e-03 9.99992107e-01 0.00000000e+00 -8.90785771e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59678494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.975336195 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:75.12, Y:-0.09, Z:-0.04 [[ 9.99983529e-01 5.73940228e-03 0.00000000e+00 7.51180636e+01] [-5.73940228e-03 9.99983529e-01 0.00000000e+00 -8.93713123e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64720740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.005336195 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:75.15, Y:-0.09, Z:-0.03 [[ 9.99986528e-01 5.19070611e-03 0.00000000e+00 7.51468383e+01] [-5.19070611e-03 9.99986528e-01 0.00000000e+00 -8.89708216e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.48363754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.20, Y:-0.09, Z:-0.02 [[ 9.99995340e-01 -3.05286305e-03 0.00000000e+00 7.51993283e+01] [ 3.05286305e-03 9.99995340e-01 0.00000000e+00 -8.62809674e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49698843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.065336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:75.22, Y:-0.09, Z:-0.03 [[ 9.99999910e-01 4.23773348e-04 0.00000000e+00 7.52247248e+01] [-4.23773348e-04 9.99999910e-01 0.00000000e+00 -8.65981601e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69398925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.095336195 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:75.24, Y:-0.08, Z:-0.03 [[ 9.99987150e-01 5.06944324e-03 0.00000000e+00 7.52362273e+01] [-5.06944324e-03 9.99987150e-01 0.00000000e+00 -8.36822917e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82951668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12533619499999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:75.26, Y:-0.08, Z:-0.03 [[ 9.99986953e-01 5.10821142e-03 0.00000000e+00 7.52625463e+01] [-5.10821142e-03 9.99986953e-01 0.00000000e+00 -8.25138017e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12195510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15533619499999 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:75.29, Y:-0.08, Z:-0.04 [[ 9.99983118e-01 5.81062765e-03 0.00000000e+00 7.52914163e+01] [-5.81062765e-03 9.99983118e-01 0.00000000e+00 -8.43920021e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64364728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.34, Y:-0.08, Z:-0.03 [[ 9.99999670e-01 8.11876968e-04 0.00000000e+00 7.53352941e+01] [-8.11876968e-04 9.99999670e-01 0.00000000e+00 -8.37335328e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32529285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.36, Y:-0.08, Z:-0.03 [[ 9.99999892e-01 4.65102342e-04 0.00000000e+00 7.53638607e+01] [-4.65102342e-04 9.99999892e-01 0.00000000e+00 -8.25302179e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32529285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.245336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:75.40, Y:-0.07, Z:-0.02 [[ 9.99985283e-01 -5.42523234e-03 0.00000000e+00 7.54025951e+01] [ 5.42523234e-03 9.99985283e-01 0.00000000e+00 -7.29650569e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42994965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.42, Y:-0.07, Z:-0.02 [[ 9.99998266e-01 -1.86250588e-03 0.00000000e+00 7.54246636e+01] [ 1.86250588e-03 9.99998266e-01 0.00000000e+00 -7.32162391e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01850751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.305336195 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:75.43, Y:-0.07, Z:-0.03 [[ 9.99993010e-01 3.73887437e-03 0.00000000e+00 7.54346875e+01] [-3.73887437e-03 9.99993010e-01 0.00000000e+00 -7.38933652e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57784232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.335336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:75.46, Y:-0.08, Z:-0.03 [[ 9.99994907e-01 3.19164303e-03 0.00000000e+00 7.54616211e+01] [-3.19164303e-03 9.99994907e-01 0.00000000e+00 -7.59591301e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20755779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.365336195 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:75.49, Y:-0.07, Z:-0.03 [[ 9.99995999e-01 2.82869699e-03 0.00000000e+00 7.54898602e+01] [-2.82869699e-03 9.99995999e-01 0.00000000e+00 -7.30279035e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61531690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.395336195 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:75.53, Y:-0.07, Z:-0.02 [[ 9.99996420e-01 -2.67580783e-03 0.00000000e+00 7.55319608e+01] [ 2.67580783e-03 9.99996420e-01 0.00000000e+00 -7.14834271e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31296375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.425336195 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:75.55, Y:-0.07, Z:-0.03 [[ 9.99998892e-01 1.48836711e-03 0.00000000e+00 7.55490485e+01] [-1.48836711e-03 9.99998892e-01 0.00000000e+00 -7.11531643e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70317239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.455336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:75.58, Y:-0.07, Z:-0.04 [[ 9.99997891e-01 2.05353856e-03 0.00000000e+00 7.55771515e+01] [-2.05353856e-03 9.99997891e-01 0.00000000e+00 -7.49154888e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82254381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.485336195 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:75.61, Y:-0.07, Z:-0.04 [[ 9.99997504e-01 2.23430582e-03 0.00000000e+00 7.56050412e+01] [-2.23430582e-03 9.99997504e-01 0.00000000e+00 -7.41329977e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89127311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:75.63, Y:-0.07, Z:-0.02 [[ 9.99993565e-01 3.58744804e-03 0.00000000e+00 7.56326119e+01] [-3.58744804e-03 9.99993565e-01 0.00000000e+00 -6.75578129e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35109217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.67, Y:-0.06, Z:-0.02 [[ 9.99999961e-01 2.78309427e-04 0.00000000e+00 7.56727663e+01] [-2.78309427e-04 9.99999961e-01 0.00000000e+00 -6.44120715e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91592928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.70, Y:-0.06, Z:-0.03 [[ 9.99999619e-01 8.72899423e-04 0.00000000e+00 7.57020576e+01] [-8.72899423e-04 9.99999619e-01 0.00000000e+00 -6.49419819e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55052455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60533619499999 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:75.72, Y:-0.07, Z:-0.03 [[ 9.99988845e-01 4.72339856e-03 0.00000000e+00 7.57213581e+01] [-4.72339856e-03 9.99988845e-01 0.00000000e+00 -6.74885680e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45082222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.635336195 meters Centerline goodness : 0.999881 Centerline is valid? [True, True] Translation: X:75.75, Y:-0.07, Z:-0.04 [[ 9.99990281e-01 4.40892341e-03 0.00000000e+00 7.57506504e+01] [-4.40892341e-03 9.99990281e-01 0.00000000e+00 -6.89124034e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71153648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.79, Y:-0.07, Z:-0.03 [[ 9.99999271e-01 1.20733775e-03 0.00000000e+00 7.57893115e+01] [-1.20733775e-03 9.99999271e-01 0.00000000e+00 -6.68500901e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18247420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.695336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:75.81, Y:-0.06, Z:-0.03 [[ 9.99990158e-01 4.43666690e-03 0.00000000e+00 7.58084647e+01] [-4.43666690e-03 9.99990158e-01 0.00000000e+00 -6.41110141e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82566033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.85, Y:-0.06, Z:-0.03 [[ 9.99999233e-01 1.23867303e-03 0.00000000e+00 7.58489297e+01] [-1.23867303e-03 9.99999233e-01 0.00000000e+00 -6.30922672e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83963979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.755336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:75.87, Y:-0.06, Z:-0.02 [[ 9.99982941e-01 5.84097686e-03 0.00000000e+00 7.58674764e+01] [-5.84097686e-03 9.99982941e-01 0.00000000e+00 -6.16017502e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32510748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.785336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:75.90, Y:-0.06, Z:-0.02 [[ 9.99967335e-01 8.08261596e-03 0.00000000e+00 7.58956054e+01] [-8.08261596e-03 9.99967335e-01 0.00000000e+00 -5.80885061e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56028496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.815336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:75.92, Y:-0.06, Z:-0.02 [[ 9.99971638e-01 7.53141407e-03 0.00000000e+00 7.59233924e+01] [-7.53141407e-03 9.99971638e-01 0.00000000e+00 -5.82120177e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86352409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.845336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.95, Y:-0.06, Z:-0.02 [[ 9.99973312e-01 7.30580877e-03 0.00000000e+00 7.59518952e+01] [-7.30580877e-03 9.99973312e-01 0.00000000e+00 -6.07664261e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49421674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87533619499999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:75.98, Y:-0.06, Z:-0.03 [[ 9.99972108e-01 7.46882799e-03 0.00000000e+00 7.59795568e+01] [-7.46882799e-03 9.99972108e-01 0.00000000e+00 -6.15181574e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93030712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:76.01, Y:-0.06, Z:-0.03 [[ 9.99955852e-01 9.39644418e-03 0.00000000e+00 7.60081603e+01] [-9.39644418e-03 9.99955852e-01 0.00000000e+00 -6.02110929e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99536508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.05, Y:-0.06, Z:-0.03 [[ 9.99993241e-01 3.67654786e-03 0.00000000e+00 7.60510135e+01] [-3.67654786e-03 9.99993241e-01 0.00000000e+00 -5.69610252e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05697667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96533619499999 meters Centerline goodness : 0.999928 Centerline is valid? [True, True] Translation: X:76.07, Y:-0.06, Z:-0.03 [[ 9.99934468e-01 1.14481259e-02 0.00000000e+00 7.60657885e+01] [-1.14481259e-02 9.99934468e-01 0.00000000e+00 -5.73580423e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07788048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.995336195 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:76.09, Y:-0.06, Z:-0.03 [[ 9.99923912e-01 1.23357583e-02 0.00000000e+00 7.60945214e+01] [-1.23357583e-02 9.99923912e-01 0.00000000e+00 -5.65491874e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84535515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.025336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:76.13, Y:-0.06, Z:-0.03 [[ 9.99875323e-01 1.57904628e-02 0.00000000e+00 7.61326380e+01] [-1.57904628e-02 9.99875323e-01 0.00000000e+00 -6.21514112e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68919941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.055336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:76.15, Y:-0.06, Z:-0.03 [[ 9.99886303e-01 1.50791888e-02 0.00000000e+00 7.61518149e+01] [-1.50791888e-02 9.99886303e-01 0.00000000e+00 -5.63638730e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15044148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.085336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:76.18, Y:-0.06, Z:-0.03 [[ 9.99885646e-01 1.51226692e-02 0.00000000e+00 7.61792760e+01] [-1.51226692e-02 9.99885646e-01 0.00000000e+00 -5.66087406e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28499591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.115336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:76.21, Y:-0.06, Z:-0.03 [[ 9.99856146e-01 1.69613620e-02 0.00000000e+00 7.62074473e+01] [-1.69613620e-02 9.99856146e-01 0.00000000e+00 -5.58658611e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91380076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.24, Y:-0.05, Z:-0.03 [[ 9.99863691e-01 1.65106037e-02 0.00000000e+00 7.62352941e+01] [-1.65106037e-02 9.99863691e-01 0.00000000e+00 -5.41167695e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67327150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.28, Y:-0.06, Z:-0.02 [[ 9.99874962e-01 1.58132882e-02 0.00000000e+00 7.62759506e+01] [-1.58132882e-02 9.99874962e-01 0.00000000e+00 -5.76637502e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78920632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.30, Y:-0.06, Z:-0.02 [[ 9.99901459e-01 1.40382272e-02 0.00000000e+00 7.63037956e+01] [-1.40382272e-02 9.99901459e-01 0.00000000e+00 -5.72234226e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88621923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.32, Y:-0.05, Z:-0.03 [[ 9.99929085e-01 1.19090268e-02 0.00000000e+00 7.63218002e+01] [-1.19090268e-02 9.99929085e-01 0.00000000e+00 -5.13631461e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81382612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.36, Y:-0.05, Z:-0.03 [[ 9.99969079e-01 7.86390776e-03 0.00000000e+00 7.63611605e+01] [-7.86390776e-03 9.99969079e-01 0.00000000e+00 -5.07342082e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07310631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29533619499999 meters Centerline goodness : 0.999929 Centerline is valid? [True, True] Translation: X:76.38, Y:-0.05, Z:-0.03 [[ 9.99960603e-01 8.87655630e-03 0.00000000e+00 7.63790452e+01] [-8.87655630e-03 9.99960603e-01 0.00000000e+00 -4.92157628e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85100181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.42, Y:-0.05, Z:-0.02 [[ 9.99968966e-01 7.87825430e-03 0.00000000e+00 7.64215202e+01] [-7.87825430e-03 9.99968966e-01 0.00000000e+00 -5.27584791e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95121646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.45, Y:-0.05, Z:-0.02 [[ 9.99990980e-01 4.24723237e-03 0.00000000e+00 7.64501387e+01] [-4.24723237e-03 9.99990980e-01 0.00000000e+00 -5.03765979e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75399006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.47, Y:-0.05, Z:-0.03 [[ 9.99995186e-01 3.10303972e-03 0.00000000e+00 7.64662820e+01] [-3.10303972e-03 9.99995186e-01 0.00000000e+00 -4.58800195e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72763079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.415336195 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:76.49, Y:-0.05, Z:-0.04 [[ 9.99999044e-01 1.38241173e-03 0.00000000e+00 7.64939066e+01] [-1.38241173e-03 9.99999044e-01 0.00000000e+00 -4.75043814e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58626352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.52, Y:-0.05, Z:-0.03 [[ 9.99999615e-01 8.77036375e-04 0.00000000e+00 7.65224881e+01] [-8.77036375e-04 9.99999615e-01 0.00000000e+00 -4.60369642e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02044074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:-0.04, Z:-0.02 [[ 9.99997312e-01 2.31849596e-03 0.00000000e+00 7.65523759e+01] [-2.31849596e-03 9.99997312e-01 0.00000000e+00 -4.10475145e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09518138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.505336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:76.58, Y:-0.04, Z:-0.02 [[ 9.99994879e-01 3.20023881e-03 0.00000000e+00 7.65807751e+01] [-3.20023881e-03 9.99994879e-01 0.00000000e+00 -3.88394740e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07785604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.61, Y:-0.04, Z:-0.02 [[ 9.99990273e-01 4.41062885e-03 0.00000000e+00 7.66086328e+01] [-4.41062885e-03 9.99990273e-01 0.00000000e+00 -3.71859523e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29408405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.64, Y:-0.04, Z:-0.03 [[ 9.99991904e-01 4.02400745e-03 0.00000000e+00 7.66370346e+01] [-4.02400745e-03 9.99991904e-01 0.00000000e+00 -3.75544286e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80019477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.595336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.67, Y:-0.04, Z:-0.03 [[ 9.99997538e-01 2.21914722e-03 0.00000000e+00 7.66651446e+01] [-2.21914722e-03 9.99997538e-01 0.00000000e+00 -3.77316975e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01818766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.71, Y:-0.04, Z:-0.03 [[ 9.99996815e-01 2.52370489e-03 0.00000000e+00 7.67071296e+01] [-2.52370489e-03 9.99996815e-01 0.00000000e+00 -4.34792247e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95021786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65533619499999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:76.72, Y:-0.04, Z:-0.04 [[ 9.99994789e-01 3.22832078e-03 0.00000000e+00 7.67247308e+01] [-3.22832078e-03 9.99994789e-01 0.00000000e+00 -3.73682705e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89712339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.75, Y:-0.04, Z:-0.04 [[ 9.99989744e-01 4.52899224e-03 0.00000000e+00 7.67539130e+01] [-4.52899224e-03 9.99989744e-01 0.00000000e+00 -3.85347931e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18057190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.78, Y:-0.03, Z:-0.03 [[ 9.99974036e-01 7.20611299e-03 0.00000000e+00 7.67823073e+01] [-7.20611299e-03 9.99974036e-01 0.00000000e+00 -3.39940361e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18345982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.81, Y:-0.03, Z:-0.02 [[ 9.99960690e-01 8.86665720e-03 0.00000000e+00 7.68086981e+01] [-8.86665720e-03 9.99960690e-01 0.00000000e+00 -2.92554743e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44474352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.775336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:76.84, Y:-0.03, Z:-0.02 [[ 9.99941091e-01 1.08542268e-02 0.00000000e+00 7.68370368e+01] [-1.08542268e-02 9.99941091e-01 0.00000000e+00 -2.80024615e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27886777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.805336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:76.87, Y:-0.03, Z:-0.03 [[ 9.99925557e-01 1.22016712e-02 0.00000000e+00 7.68651723e+01] [-1.22016712e-02 9.99925557e-01 0.00000000e+00 -2.83722196e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68871431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.89, Y:-0.03, Z:-0.03 [[ 9.99893140e-01 1.46187834e-02 0.00000000e+00 7.68939209e+01] [-1.46187834e-02 9.99893140e-01 0.00000000e+00 -2.84204560e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78859000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.92, Y:-0.03, Z:-0.03 [[ 9.99879777e-01 1.55058553e-02 0.00000000e+00 7.69218462e+01] [-1.55058553e-02 9.99879777e-01 0.00000000e+00 -2.69923789e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90929162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.895336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:76.95, Y:-0.03, Z:-0.03 [[ 9.99837723e-01 1.80146703e-02 0.00000000e+00 7.69495552e+01] [-1.80146703e-02 9.99837723e-01 0.00000000e+00 -2.62986540e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.35816990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.98, Y:-0.02, Z:-0.03 [[ 9.99829324e-01 1.84749263e-02 0.00000000e+00 7.69781306e+01] [-1.84749263e-02 9.99829324e-01 0.00000000e+00 -2.49080954e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99445803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.01, Y:-0.02, Z:-0.02 [[ 9.99819833e-01 1.89816256e-02 0.00000000e+00 7.70057999e+01] [-1.89816256e-02 9.99819833e-01 0.00000000e+00 -2.20665756e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45239007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.05, Y:-0.02, Z:-0.01 [[ 9.99793387e-01 2.03269172e-02 0.00000000e+00 7.70487627e+01] [-2.03269172e-02 9.99793387e-01 0.00000000e+00 -2.15176540e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25791177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.08, Y:-0.02, Z:-0.01 [[ 9.99773562e-01 2.12796583e-02 0.00000000e+00 7.70768423e+01] [-2.12796583e-02 9.99773562e-01 0.00000000e+00 -1.98018309e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.80207925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04533619499999 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:77.09, Y:-0.02, Z:-0.02 [[ 9.99779773e-01 2.09858436e-02 0.00000000e+00 7.70914292e+01] [-2.09858436e-02 9.99779773e-01 0.00000000e+00 -1.76648647e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00546075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.13, Y:-0.02, Z:-0.02 [[ 9.99816479e-01 1.91574611e-02 0.00000000e+00 7.71324088e+01] [-1.91574611e-02 9.99816479e-01 0.00000000e+00 -2.41368577e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05374468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.16, Y:-0.02, Z:-0.02 [[ 9.99889372e-01 1.48742780e-02 0.00000000e+00 7.71596492e+01] [-1.48742780e-02 9.99889372e-01 0.00000000e+00 -2.27173792e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93975858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.19, Y:-0.02, Z:-0.02 [[ 9.99895616e-01 1.44484208e-02 0.00000000e+00 7.71873895e+01] [-1.44484208e-02 9.99895616e-01 0.00000000e+00 -2.12508118e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93975858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.21, Y:-0.02, Z:-0.02 [[ 9.99898986e-01 1.42132811e-02 0.00000000e+00 7.72121065e+01] [-1.42132811e-02 9.99898986e-01 0.00000000e+00 -1.97929300e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51252467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.23, Y:-0.01, Z:-0.02 [[ 9.99933256e-01 1.15535025e-02 0.00000000e+00 7.72308005e+01] [-1.15535025e-02 9.99933256e-01 0.00000000e+00 -1.30851484e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50060230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.225336195 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:77.26, Y:-0.01, Z:-0.02 [[ 9.99955903e-01 9.39102410e-03 0.00000000e+00 7.72571385e+01] [-9.39102410e-03 9.99955903e-01 0.00000000e+00 -1.26966520e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58562351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.30, Y:-0.02, Z:-0.01 [[ 9.99994255e-01 3.38981225e-03 0.00000000e+00 7.73010495e+01] [-3.38981225e-03 9.99994255e-01 0.00000000e+00 -1.88156527e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17144632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.33, Y:-0.02, Z:-0.01 [[ 9.99998202e-01 1.89651402e-03 0.00000000e+00 7.73282144e+01] [-1.89651402e-03 9.99998202e-01 0.00000000e+00 -1.96919677e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43492354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.34, Y:-0.02, Z:-0.02 [[ 9.99985826e-01 5.32423233e-03 0.00000000e+00 7.73439622e+01] [-5.32423233e-03 9.99985826e-01 0.00000000e+00 -1.99425357e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41200686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.345336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.37, Y:-0.02, Z:-0.02 [[ 9.99980250e-01 6.28480488e-03 0.00000000e+00 7.73724297e+01] [-6.28480488e-03 9.99980250e-01 0.00000000e+00 -1.92760170e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19262496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.40, Y:-0.02, Z:-0.02 [[ 9.99977458e-01 6.71435559e-03 0.00000000e+00 7.74012920e+01] [-6.71435559e-03 9.99977458e-01 0.00000000e+00 -1.71205916e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84714549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.44, Y:-0.02, Z:-0.02 [[ 9.99953955e-01 9.59627681e-03 0.00000000e+00 7.74390933e+01] [-9.59627681e-03 9.99953955e-01 0.00000000e+00 -2.04193389e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62274299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.47, Y:-0.02, Z:-0.01 [[ 9.99950346e-01 9.96524058e-03 0.00000000e+00 7.74667584e+01] [-9.96524058e-03 9.99950346e-01 0.00000000e+00 -2.00150513e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27596366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.49, Y:-0.02, Z:-0.01 [[ 9.99916976e-01 1.28856988e-02 0.00000000e+00 7.74948329e+01] [-1.28856988e-02 9.99916976e-01 0.00000000e+00 -1.99071388e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.86549910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.52, Y:-0.02, Z:-0.01 [[ 9.99900795e-01 1.40854320e-02 0.00000000e+00 7.75221558e+01] [-1.40854320e-02 9.99900795e-01 0.00000000e+00 -1.82807246e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.97795627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.55, Y:-0.02, Z:-0.01 [[ 9.99867619e-01 1.62709525e-02 0.00000000e+00 7.75477198e+01] [-1.62709525e-02 9.99867619e-01 0.00000000e+00 -1.80042036e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01704561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.58, Y:-0.02, Z:-0.02 [[ 9.99810247e-01 1.94799846e-02 0.00000000e+00 7.75783765e+01] [-1.94799846e-02 9.99810247e-01 0.00000000e+00 -2.27993547e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87548134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.60, Y:-0.02, Z:-0.02 [[ 9.99740340e-01 2.27871164e-02 0.00000000e+00 7.75958578e+01] [-2.27871164e-02 9.99740340e-01 0.00000000e+00 -1.91117785e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43963744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.63, Y:-0.02, Z:-0.01 [[ 9.99624723e-01 2.73936651e-02 0.00000000e+00 7.76340881e+01] [-2.73936651e-02 9.99624723e-01 0.00000000e+00 -1.63106036e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14088460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.66, Y:-0.01, Z:-0.01 [[ 9.99538194e-01 3.03874611e-02 0.00000000e+00 7.76606073e+01] [-3.03874611e-02 9.99538194e-01 0.00000000e+00 -1.20368786e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.14661205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.69, Y:-0.01, Z:-0.01 [[ 9.99312754e-01 3.70677725e-02 0.00000000e+00 7.76898030e+01] [-3.70677725e-02 9.99312754e-01 0.00000000e+00 -1.00635907e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07033202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.72, Y:-0.01, Z:-0.00 [[ 9.99190543e-01 4.02275860e-02 0.00000000e+00 7.77162809e+01] [-4.02275860e-02 9.99190543e-01 0.00000000e+00 -7.41791361e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74503202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.75, Y:-0.00, Z:-0.00 [[ 9.99043756e-01 4.37215364e-02 0.00000000e+00 7.77457553e+01] [-4.37215364e-02 9.99043756e-01 0.00000000e+00 -3.51745468e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85317232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.77, Y:0.00, Z:-0.00 [[ 9.98755150e-01 4.98813616e-02 0.00000000e+00 7.77683974e+01] [-4.98813616e-02 9.98755150e-01 0.00000000e+00 1.99350296e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08487715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.79, Y:0.01, Z:-0.00 [[ 9.98783376e-01 4.93129593e-02 0.00000000e+00 7.77907151e+01] [-4.93129593e-02 9.98783376e-01 0.00000000e+00 8.13666028e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.69242935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.83, Y:0.01, Z:-0.00 [[ 9.98824282e-01 4.84773468e-02 0.00000000e+00 7.78259872e+01] [-4.84773468e-02 9.98824282e-01 0.00000000e+00 9.00675830e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73573085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.85, Y:0.01, Z:-0.01 [[ 9.98838947e-01 4.81742377e-02 0.00000000e+00 7.78468133e+01] [-4.81742377e-02 9.98838947e-01 0.00000000e+00 1.36286224e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.20456086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.87, Y:0.02, Z:-0.01 [[ 9.98853289e-01 4.78759618e-02 0.00000000e+00 7.78749687e+01] [-4.78759618e-02 9.98853289e-01 0.00000000e+00 1.56869762e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.94857782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.90, Y:0.02, Z:-0.01 [[ 9.98973999e-01 4.52874092e-02 0.00000000e+00 7.79022771e+01] [-4.52874092e-02 9.98973999e-01 0.00000000e+00 1.94392566e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.66277806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.93, Y:0.02, Z:-0.01 [[ 9.99134706e-01 4.15913261e-02 0.00000000e+00 7.79305044e+01] [-4.15913261e-02 9.99134706e-01 0.00000000e+00 2.05475884e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03257407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.96, Y:0.02, Z:-0.01 [[ 9.99451770e-01 3.31083100e-02 0.00000000e+00 7.79577202e+01] [-3.31083100e-02 9.99451770e-01 0.00000000e+00 2.20279644e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33824553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.99, Y:0.02, Z:-0.00 [[ 9.99533579e-01 3.05388926e-02 0.00000000e+00 7.79854084e+01] [-3.05388926e-02 9.99533579e-01 0.00000000e+00 2.42133991e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87828414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.02, Y:0.02, Z:0.00 [[ 9.99655085e-01 2.62623662e-02 0.00000000e+00 7.80210674e+01] [-2.62623662e-02 9.99655085e-01 0.00000000e+00 2.47189031e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20190667e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.04, Y:0.03, Z:-0.01 [[ 9.99705259e-01 2.42774486e-02 0.00000000e+00 7.80411127e+01] [-2.42774486e-02 9.99705259e-01 0.00000000e+00 2.69881581e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17906936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.095336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:0.02, Z:-0.01 [[ 9.99796123e-01 2.01918866e-02 0.00000000e+00 7.80762204e+01] [-2.01918866e-02 9.99796123e-01 0.00000000e+00 2.47673807e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.42795193e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.10, Y:0.03, Z:-0.01 [[ 9.99785238e-01 2.07238500e-02 0.00000000e+00 7.80966132e+01] [-2.07238500e-02 9.99785238e-01 0.00000000e+00 2.68609060e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03054943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.12, Y:0.03, Z:-0.01 [[ 9.99803768e-01 1.98097570e-02 0.00000000e+00 7.81238177e+01] [-1.98097570e-02 9.99803768e-01 0.00000000e+00 2.94777590e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.40461405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.15, Y:0.03, Z:-0.00 [[ 9.99814438e-01 1.92636765e-02 0.00000000e+00 7.81508701e+01] [-1.92636765e-02 9.99814438e-01 0.00000000e+00 3.29516778e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90884626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.18, Y:0.04, Z:0.00 [[ 9.99779063e-01 2.10196199e-02 0.00000000e+00 7.81792691e+01] [-2.10196199e-02 9.99779063e-01 0.00000000e+00 3.63016108e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28325267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.21, Y:0.04, Z:-0.01 [[ 9.99690624e-01 2.48728125e-02 0.00000000e+00 7.82071700e+01] [-2.48728125e-02 9.99690624e-01 0.00000000e+00 3.56990293e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.09088695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.23, Y:0.04, Z:-0.01 [[ 9.99674779e-01 2.55016757e-02 0.00000000e+00 7.82346926e+01] [-2.55016757e-02 9.99674779e-01 0.00000000e+00 3.52993371e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.45081149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.26, Y:0.04, Z:-0.01 [[ 9.99677957e-01 2.53768195e-02 0.00000000e+00 7.82623102e+01] [-2.53768195e-02 9.99677957e-01 0.00000000e+00 3.57217015e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.91124045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:0.04, Z:-0.00 [[ 9.99638493e-01 2.68864816e-02 0.00000000e+00 7.82889610e+01] [-2.68864816e-02 9.99638493e-01 0.00000000e+00 3.94252097e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04432665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.365336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:78.32, Y:0.04, Z:-0.00 [[ 9.99653807e-01 2.63109465e-02 0.00000000e+00 7.83163058e+01] [-2.63109465e-02 9.99653807e-01 0.00000000e+00 4.13071498e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07150945e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.395336195 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:78.34, Y:0.04, Z:-0.00 [[ 9.99653760e-01 2.63127259e-02 0.00000000e+00 7.83448272e+01] [-2.63127259e-02 9.99653760e-01 0.00000000e+00 4.26388017e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26043552e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.425336195 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:78.37, Y:0.04, Z:0.00 [[ 9.99659693e-01 2.60863597e-02 0.00000000e+00 7.83727522e+01] [-2.60863597e-02 9.99659693e-01 0.00000000e+00 4.44580128e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29456267e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.455336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:78.40, Y:0.05, Z:-0.00 [[ 9.99655122e-01 2.62609533e-02 0.00000000e+00 7.83994395e+01] [-2.62609533e-02 9.99655122e-01 0.00000000e+00 4.51893717e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22466737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.485336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:78.43, Y:0.04, Z:-0.01 [[ 9.99663992e-01 2.59210833e-02 0.00000000e+00 7.84276476e+01] [-2.59210833e-02 9.99663992e-01 0.00000000e+00 4.43161872e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25327218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:78.46, Y:0.04, Z:-0.01 [[ 9.99699051e-01 2.45317658e-02 0.00000000e+00 7.84552205e+01] [-2.45317658e-02 9.99699051e-01 0.00000000e+00 4.08694829e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21190290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:78.48, Y:0.04, Z:-0.01 [[ 9.99689207e-01 2.49296749e-02 0.00000000e+00 7.84822497e+01] [-2.49296749e-02 9.99689207e-01 0.00000000e+00 4.32467771e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.86695463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57533619499999 meters Centerline goodness : 0.999879 Centerline is valid? [True, True] Translation: X:78.51, Y:0.05, Z:0.01 [[ 9.99691515e-01 2.48369523e-02 0.00000000e+00 7.85106565e+01] [-2.48369523e-02 9.99691515e-01 0.00000000e+00 5.03967687e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.23191443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60533619499999 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:78.54, Y:0.05, Z:0.01 [[ 9.99720939e-01 2.36229622e-02 0.00000000e+00 7.85380389e+01] [-2.36229622e-02 9.99720939e-01 0.00000000e+00 5.24157788e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71847789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.635336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:78.57, Y:0.05, Z:0.00 [[ 9.99760509e-01 2.18843615e-02 0.00000000e+00 7.85728409e+01] [-2.18843615e-02 9.99760509e-01 0.00000000e+00 4.95425030e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76837994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.60, Y:0.05, Z:-0.00 [[ 9.99810288e-01 1.94778628e-02 0.00000000e+00 7.85999997e+01] [-1.94778628e-02 9.99810288e-01 0.00000000e+00 5.06317292e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47590680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.695336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:78.62, Y:0.05, Z:-0.00 [[ 9.99837496e-01 1.80272486e-02 0.00000000e+00 7.86226596e+01] [-1.80272486e-02 9.99837496e-01 0.00000000e+00 5.21637264e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54309545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.725336195 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:78.65, Y:0.05, Z:0.00 [[ 9.99938099e-01 1.11264469e-02 0.00000000e+00 7.86512767e+01] [-1.11264469e-02 9.99938099e-01 0.00000000e+00 5.45413385e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50525660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.755336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:78.68, Y:0.05, Z:-0.01 [[ 9.99957991e-01 9.16598651e-03 0.00000000e+00 7.86844694e+01] [-9.16598651e-03 9.99957991e-01 0.00000000e+00 5.46006707e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.59529406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.71, Y:0.06, Z:-0.01 [[ 9.99991961e-01 4.00977442e-03 0.00000000e+00 7.87128393e+01] [-4.00977442e-03 9.99991961e-01 0.00000000e+00 5.53158639e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39540822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.815336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:78.74, Y:0.06, Z:-0.02 [[ 9.99996902e-01 2.48928403e-03 0.00000000e+00 7.87408454e+01] [-2.48928403e-03 9.99996902e-01 0.00000000e+00 5.61457496e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56441878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.845336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:78.77, Y:0.06, Z:-0.01 [[ 9.99999748e-01 -7.09764186e-04 0.00000000e+00 7.87698002e+01] [ 7.09764186e-04 9.99999748e-01 0.00000000e+00 5.86616753e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15793058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:78.80, Y:0.06, Z:-0.01 [[ 9.99996364e-01 -2.69650933e-03 0.00000000e+00 7.88030141e+01] [ 2.69650933e-03 9.99996364e-01 0.00000000e+00 6.25574627e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.49857381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:78.83, Y:0.07, Z:0.00 [[ 9.99980477e-01 -6.24864306e-03 0.00000000e+00 7.88336426e+01] [ 6.24864306e-03 9.99980477e-01 0.00000000e+00 6.61178362e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09566123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:78.87, Y:0.07, Z:-0.01 [[ 9.99929665e-01 -1.18602491e-02 0.00000000e+00 7.88680194e+01] [ 1.18602491e-02 9.99929665e-01 0.00000000e+00 6.50712386e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72658977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:78.90, Y:0.06, Z:-0.01 [[ 9.99916336e-01 -1.29352559e-02 0.00000000e+00 7.89005738e+01] [ 1.29352559e-02 9.99916336e-01 0.00000000e+00 6.29514185e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.41874636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.93, Y:0.06, Z:-0.01 [[ 9.99880328e-01 -1.54702799e-02 0.00000000e+00 7.89339626e+01] [ 1.54702799e-02 9.99880328e-01 0.00000000e+00 6.37590361e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12682759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.97, Y:0.07, Z:-0.01 [[ 9.99878226e-01 -1.56055628e-02 0.00000000e+00 7.89653724e+01] [ 1.56055628e-02 9.99878226e-01 0.00000000e+00 6.55379977e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12682759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.00, Y:0.06, Z:-0.02 [[ 9.99859206e-01 -1.67800205e-02 0.00000000e+00 7.89960194e+01] [ 1.67800205e-02 9.99859206e-01 0.00000000e+00 6.45893482e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50830124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.085336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.03, Y:0.07, Z:-0.01 [[ 9.99817432e-01 -1.91076471e-02 0.00000000e+00 7.90279907e+01] [ 1.91076471e-02 9.99817432e-01 0.00000000e+00 6.77454684e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35683488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.115336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.06, Y:0.07, Z:-0.01 [[ 9.99801749e-01 -1.99113508e-02 0.00000000e+00 7.90606602e+01] [ 1.99113508e-02 9.99801749e-01 0.00000000e+00 7.11368966e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.69500211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.09, Y:0.07, Z:-0.00 [[ 9.99824007e-01 -1.87604825e-02 0.00000000e+00 7.90927305e+01] [ 1.87604825e-02 9.99824007e-01 0.00000000e+00 7.28065810e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21027513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.12, Y:0.07, Z:-0.00 [[ 9.99835720e-01 -1.81254836e-02 0.00000000e+00 7.91244321e+01] [ 1.81254836e-02 9.99835720e-01 0.00000000e+00 7.46517730e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.70380644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.16, Y:0.07, Z:-0.00 [[ 9.99876253e-01 -1.57314540e-02 0.00000000e+00 7.91566590e+01] [ 1.57314540e-02 9.99876253e-01 0.00000000e+00 7.27731669e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63217978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.19, Y:0.07, Z:-0.00 [[ 9.99883985e-01 -1.52320573e-02 0.00000000e+00 7.91880034e+01] [ 1.52320573e-02 9.99883985e-01 0.00000000e+00 7.36269279e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.69037077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26533619499999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:79.22, Y:0.07, Z:-0.01 [[ 9.99900531e-01 -1.41042058e-02 0.00000000e+00 7.92207983e+01] [ 1.41042058e-02 9.99900531e-01 0.00000000e+00 7.40899963e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.04570092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29533619499999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:79.24, Y:0.08, Z:-0.01 [[ 9.99936682e-01 -1.12530868e-02 0.00000000e+00 7.92352900e+01] [ 1.12530868e-02 9.99936682e-01 0.00000000e+00 7.70383896e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79778603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32533619499999 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:79.28, Y:0.07, Z:-0.01 [[ 9.99921552e-01 -1.25255465e-02 0.00000000e+00 7.92830876e+01] [ 1.25255465e-02 9.99921552e-01 0.00000000e+00 7.30842425e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.16837619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35533619499999 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:79.32, Y:0.07, Z:-0.01 [[ 9.99950943e-01 -9.90516096e-03 0.00000000e+00 7.93155306e+01] [ 9.90516096e-03 9.99950943e-01 0.00000000e+00 7.24247346e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.59281114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.35, Y:0.07, Z:-0.01 [[ 9.99961534e-01 -8.77097828e-03 0.00000000e+00 7.93491862e+01] [ 8.77097828e-03 9.99961534e-01 0.00000000e+00 7.31217759e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72885890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.38, Y:0.07, Z:-0.01 [[ 9.99984962e-01 -5.48408741e-03 0.00000000e+00 7.93812596e+01] [ 5.48408741e-03 9.99984962e-01 0.00000000e+00 7.30691613e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.21715192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.41, Y:0.08, Z:-0.01 [[ 9.99988044e-01 -4.89000661e-03 0.00000000e+00 7.94115007e+01] [ 4.89000661e-03 9.99988044e-01 0.00000000e+00 7.57276589e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.53775969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.44, Y:0.08, Z:-0.00 [[ 9.99994453e-01 -3.33070631e-03 0.00000000e+00 7.94437289e+01] [ 3.33070631e-03 9.99994453e-01 0.00000000e+00 7.74380556e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.75418936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.505336195 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:79.47, Y:0.08, Z:-0.00 [[ 9.99999219e-01 -1.25002509e-03 0.00000000e+00 7.94738484e+01] [ 1.25002509e-03 9.99999219e-01 0.00000000e+00 7.72348184e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82525435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.50, Y:0.07, Z:-0.01 [[ 9.99999977e-01 2.13977380e-04 0.00000000e+00 7.95039978e+01] [-2.13977380e-04 9.99999977e-01 0.00000000e+00 7.36784682e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02558316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.53, Y:0.07, Z:-0.01 [[ 9.99999999e-01 -5.26175235e-05 0.00000000e+00 7.95317168e+01] [ 5.26175235e-05 9.99999999e-01 0.00000000e+00 7.49513300e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02898473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.595336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.56, Y:0.08, Z:-0.01 [[ 9.99997928e-01 2.03559261e-03 0.00000000e+00 7.95641722e+01] [-2.03559261e-03 9.99997928e-01 0.00000000e+00 7.62975754e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.77283739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.59, Y:0.08, Z:0.01 [[ 9.99996815e-01 2.52392881e-03 0.00000000e+00 7.95914741e+01] [-2.52392881e-03 9.99996815e-01 0.00000000e+00 8.25871527e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24080147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.62, Y:0.09, Z:0.01 [[ 9.99998405e-01 1.78627756e-03 0.00000000e+00 7.96193719e+01] [-1.78627756e-03 9.99998405e-01 0.00000000e+00 8.55978963e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83824077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.65, Y:0.08, Z:-0.01 [[ 9.99995415e-01 3.02832248e-03 0.00000000e+00 7.96488616e+01] [-3.02832248e-03 9.99995415e-01 0.00000000e+00 8.26984523e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.23143036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.68, Y:0.08, Z:-0.01 [[ 9.99991257e-01 4.18166379e-03 0.00000000e+00 7.96763788e+01] [-4.18166379e-03 9.99991257e-01 0.00000000e+00 8.21146154e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20334688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.71, Y:0.08, Z:-0.02 [[ 9.99979700e-01 6.37183232e-03 0.00000000e+00 7.97060248e+01] [-6.37183232e-03 9.99979700e-01 0.00000000e+00 8.27268563e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09016935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.73, Y:0.09, Z:-0.02 [[ 9.99939875e-01 1.09656485e-02 0.00000000e+00 7.97325472e+01] [-1.09656485e-02 9.99939875e-01 0.00000000e+00 8.56072128e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51790390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.76, Y:0.09, Z:-0.01 [[ 9.99909978e-01 1.34177628e-02 0.00000000e+00 7.97600773e+01] [-1.34177628e-02 9.99909978e-01 0.00000000e+00 8.99875081e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79886507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.79, Y:0.10, Z:0.01 [[ 9.99789788e-01 2.05031502e-02 0.00000000e+00 7.97891714e+01] [-2.05031502e-02 9.99789788e-01 0.00000000e+00 9.67181528e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.07901911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.82, Y:0.10, Z:0.01 [[ 9.99734129e-01 2.30580036e-02 0.00000000e+00 7.98158181e+01] [-2.30580036e-02 9.99734129e-01 0.00000000e+00 1.00744836e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.52104401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.85, Y:0.10, Z:0.00 [[ 9.99554896e-01 2.98330478e-02 0.00000000e+00 7.98465561e+01] [-2.98330478e-02 9.99554896e-01 0.00000000e+00 1.02735550e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64463886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.87, Y:0.10, Z:-0.00 [[ 9.99512718e-01 3.12142084e-02 0.00000000e+00 7.98724176e+01] [-3.12142084e-02 9.99512718e-01 0.00000000e+00 1.04482334e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09799337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.90, Y:0.11, Z:-0.01 [[ 9.99479798e-01 3.22510896e-02 0.00000000e+00 7.99002815e+01] [-3.22510896e-02 9.99479798e-01 0.00000000e+00 1.06131454e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.41388962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.985336195 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:79.93, Y:0.11, Z:-0.01 [[ 9.99468679e-01 3.25938446e-02 0.00000000e+00 7.99264344e+01] [-3.25938446e-02 9.99468679e-01 0.00000000e+00 1.10747783e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19733538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.96, Y:0.11, Z:-0.01 [[ 9.99413539e-01 3.42429194e-02 0.00000000e+00 7.99555422e+01] [-3.42429194e-02 9.99413539e-01 0.00000000e+00 1.09639940e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13131144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.98, Y:0.12, Z:0.00 [[ 9.99474725e-01 3.24079473e-02 0.00000000e+00 7.99798550e+01] [-3.24079473e-02 9.99474725e-01 0.00000000e+00 1.21497038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60813822e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.01, Y:0.12, Z:0.00 [[ 9.99486605e-01 3.20394447e-02 0.00000000e+00 8.00093986e+01] [-3.20394447e-02 9.99486605e-01 0.00000000e+00 1.21845563e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09518611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.04, Y:0.12, Z:-0.00 [[ 9.99542808e-01 3.02353127e-02 0.00000000e+00 8.00355713e+01] [-3.02353127e-02 9.99542808e-01 0.00000000e+00 1.24413157e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68280407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.06, Y:0.12, Z:-0.01 [[ 9.99630915e-01 2.71667724e-02 0.00000000e+00 8.00647111e+01] [-2.71667724e-02 9.99630915e-01 0.00000000e+00 1.20609611e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28432997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.09, Y:0.13, Z:-0.01 [[ 9.99776249e-01 2.11530595e-02 0.00000000e+00 8.00862577e+01] [-2.11530595e-02 9.99776249e-01 0.00000000e+00 1.27866753e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.48098576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.11, Y:0.13, Z:-0.01 [[ 9.99810046e-01 1.94902928e-02 0.00000000e+00 8.01142767e+01] [-1.94902928e-02 9.99810046e-01 0.00000000e+00 1.29579953e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.28882296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.13, Y:0.13, Z:-0.01 [[ 9.99718263e-01 2.37359507e-02 0.00000000e+00 8.01277623e+01] [-2.37359507e-02 9.99718263e-01 0.00000000e+00 1.28924415e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.31763379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.17, Y:0.13, Z:-0.00 [[ 9.99869907e-01 1.61297620e-02 0.00000000e+00 8.01711244e+01] [-1.61297620e-02 9.99869907e-01 0.00000000e+00 1.33821334e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71388022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.20, Y:0.14, Z:0.00 [[ 9.99885420e-01 1.51376041e-02 0.00000000e+00 8.02011193e+01] [-1.51376041e-02 9.99885420e-01 0.00000000e+00 1.37973125e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37205041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.21, Y:0.14, Z:0.00 [[ 9.99773041e-01 2.13041452e-02 0.00000000e+00 8.02147148e+01] [-2.13041452e-02 9.99773041e-01 0.00000000e+00 1.37056846e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82193888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.345336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.26, Y:0.14, Z:-0.00 [[ 9.99921944e-01 1.24942131e-02 0.00000000e+00 8.02565828e+01] [-1.24942131e-02 9.99921944e-01 0.00000000e+00 1.39977318e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67672010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.29, Y:0.14, Z:-0.01 [[ 9.99935085e-01 1.13941074e-02 0.00000000e+00 8.02861788e+01] [-1.13941074e-02 9.99935085e-01 0.00000000e+00 1.40021958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.11348092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.31, Y:0.14, Z:-0.01 [[ 9.99961095e-01 8.82092566e-03 0.00000000e+00 8.03055000e+01] [-8.82092566e-03 9.99961095e-01 0.00000000e+00 1.42545784e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88840806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.34, Y:0.14, Z:-0.01 [[ 9.99970225e-01 7.71676072e-03 0.00000000e+00 8.03372244e+01] [-7.71676072e-03 9.99970225e-01 0.00000000e+00 1.44935861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.52605043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.36, Y:0.15, Z:0.00 [[ 9.99964931e-01 8.37471412e-03 0.00000000e+00 8.03618625e+01] [-8.37471412e-03 9.99964931e-01 0.00000000e+00 1.48039227e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45312556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.38, Y:0.15, Z:0.00 [[ 9.99837193e-01 1.80440379e-02 0.00000000e+00 8.03750950e+01] [-1.80440379e-02 9.99837193e-01 0.00000000e+00 1.47471290e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45553608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.42, Y:0.16, Z:0.01 [[ 9.99948471e-01 1.01516088e-02 0.00000000e+00 8.04195261e+01] [-1.01516088e-02 9.99948471e-01 0.00000000e+00 1.56462030e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.40112025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.45, Y:0.16, Z:0.00 [[ 9.99936617e-01 1.12588707e-02 0.00000000e+00 8.04515290e+01] [-1.12588707e-02 9.99936617e-01 0.00000000e+00 1.60130572e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72804167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.47, Y:0.16, Z:0.00 [[ 9.99857147e-01 1.69022603e-02 0.00000000e+00 8.04652037e+01] [-1.69022603e-02 9.99857147e-01 0.00000000e+00 1.60166592e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92701803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.50, Y:0.17, Z:0.01 [[ 9.99943600e-01 1.06205890e-02 0.00000000e+00 8.05021775e+01] [-1.06205890e-02 9.99943600e-01 0.00000000e+00 1.69886686e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64891213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.52, Y:0.17, Z:0.00 [[ 9.99929550e-01 1.18699353e-02 0.00000000e+00 8.05231751e+01] [-1.18699353e-02 9.99929550e-01 0.00000000e+00 1.69149777e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40086932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.56, Y:0.17, Z:-0.00 [[ 9.99990753e-01 4.30046666e-03 0.00000000e+00 8.05604128e+01] [-4.30046666e-03 9.99990753e-01 0.00000000e+00 1.72000806e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71973922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.58, Y:0.17, Z:-0.00 [[ 9.99988061e-01 4.88645454e-03 0.00000000e+00 8.05813686e+01] [-4.88645454e-03 9.99988061e-01 0.00000000e+00 1.72066778e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36517543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.60, Y:0.17, Z:-0.01 [[ 9.99955899e-01 9.39149636e-03 0.00000000e+00 8.06038441e+01] [-9.39149636e-03 9.99955899e-01 0.00000000e+00 1.68930984e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.82228092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.65, Y:0.17, Z:-0.01 [[ 9.99999874e-01 5.01134921e-04 0.00000000e+00 8.06539908e+01] [-5.01134921e-04 9.99999874e-01 0.00000000e+00 1.69932917e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62447269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.66, Y:0.17, Z:-0.00 [[ 9.99967263e-01 8.09159424e-03 0.00000000e+00 8.06634028e+01] [-8.09159424e-03 9.99967263e-01 0.00000000e+00 1.72100324e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18352324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.71, Y:0.18, Z:0.01 [[ 9.99997114e-01 2.40255507e-03 0.00000000e+00 8.07055144e+01] [-2.40255507e-03 9.99997114e-01 0.00000000e+00 1.82342689e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.01438114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.72, Y:0.18, Z:0.00 [[ 9.99939639e-01 1.09871929e-02 0.00000000e+00 8.07215504e+01] [-1.09871929e-02 9.99939639e-01 0.00000000e+00 1.77786786e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33237793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.75, Y:0.18, Z:0.00 [[ 9.99943641e-01 1.06166907e-02 0.00000000e+00 8.07488306e+01] [-1.06166907e-02 9.99943641e-01 0.00000000e+00 1.79107467e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67000366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.78, Y:0.18, Z:0.00 [[ 9.99945635e-01 1.04271974e-02 0.00000000e+00 8.07752783e+01] [-1.04271974e-02 9.99945635e-01 0.00000000e+00 1.81370724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43353480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.80, Y:0.18, Z:0.00 [[ 9.99947626e-01 1.02345338e-02 0.00000000e+00 8.08033619e+01] [-1.02345338e-02 9.99947626e-01 0.00000000e+00 1.83516335e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43353480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.83, Y:0.19, Z:0.01 [[ 9.99951161e-01 9.88314351e-03 0.00000000e+00 8.08309368e+01] [-9.88314351e-03 9.99951161e-01 0.00000000e+00 1.86151606e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02833754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.86, Y:0.19, Z:0.00 [[ 9.99930763e-01 1.17673022e-02 0.00000000e+00 8.08592261e+01] [-1.17673022e-02 9.99930763e-01 0.00000000e+00 1.88286551e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46772623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.90, Y:0.20, Z:0.00 [[ 9.99986156e-01 5.26186496e-03 0.00000000e+00 8.09015927e+01] [-5.26186496e-03 9.99986156e-01 0.00000000e+00 1.96084811e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29089533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.92, Y:0.19, Z:-0.00 [[ 9.99912786e-01 1.32068280e-02 0.00000000e+00 8.09171670e+01] [-1.32068280e-02 9.99912786e-01 0.00000000e+00 1.89239516e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82275595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.095336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.94, Y:0.19, Z:-0.00 [[ 9.99904152e-01 1.38451122e-02 0.00000000e+00 8.09447489e+01] [-1.38451122e-02 9.99904152e-01 0.00000000e+00 1.90264536e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49515064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.99, Y:0.20, Z:-0.00 [[ 9.99979415e-01 6.41632206e-03 0.00000000e+00 8.09877045e+01] [-6.41632206e-03 9.99979415e-01 0.00000000e+00 1.98669167e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37960182e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.00, Y:0.20, Z:0.01 [[ 9.99843228e-01 1.77064729e-02 0.00000000e+00 8.10022375e+01] [-1.77064729e-02 9.99843228e-01 0.00000000e+00 1.98646953e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08286514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.03, Y:0.20, Z:0.01 [[ 9.99823308e-01 1.87976954e-02 0.00000000e+00 8.10298672e+01] [-1.87976954e-02 9.99823308e-01 0.00000000e+00 2.01311933e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11968694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.06, Y:0.20, Z:-0.00 [[ 9.99756392e-01 2.20716142e-02 0.00000000e+00 8.10570954e+01] [-2.20716142e-02 9.99756392e-01 0.00000000e+00 1.98638419e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.96024091e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.10, Y:0.20, Z:-0.00 [[ 9.99851907e-01 1.72093994e-02 0.00000000e+00 8.11009664e+01] [-1.72093994e-02 9.99851907e-01 0.00000000e+00 2.00358815e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49499615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.11, Y:0.20, Z:0.00 [[ 9.99702476e-01 2.43918049e-02 0.00000000e+00 8.11121054e+01] [-2.43918049e-02 9.99702476e-01 0.00000000e+00 2.02808883e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10590699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.305336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:81.16, Y:0.21, Z:0.00 [[ 9.99857763e-01 1.68657560e-02 0.00000000e+00 8.11561312e+01] [-1.68657560e-02 9.99857763e-01 0.00000000e+00 2.08760535e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62835860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.335336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:81.18, Y:0.21, Z:0.01 [[ 9.99821282e-01 1.89051539e-02 0.00000000e+00 8.11827199e+01] [-1.89051539e-02 9.99821282e-01 0.00000000e+00 2.11257811e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02196983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.19, Y:0.21, Z:0.01 [[ 9.99632424e-01 2.71111994e-02 0.00000000e+00 8.11943362e+01] [-2.71111994e-02 9.99632424e-01 0.00000000e+00 2.12251325e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.18568650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.23, Y:0.22, Z:0.01 [[ 9.99849120e-01 1.73705692e-02 0.00000000e+00 8.12312084e+01] [-1.73705692e-02 9.99849120e-01 0.00000000e+00 2.24660220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.22081619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.26, Y:0.22, Z:-0.00 [[ 9.99863950e-01 1.64948788e-02 0.00000000e+00 8.12598408e+01] [-1.64948788e-02 9.99863950e-01 0.00000000e+00 2.23175266e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19316702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.455336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:81.28, Y:0.21, Z:-0.00 [[ 9.99685677e-01 2.50708592e-02 0.00000000e+00 8.12802073e+01] [-2.50708592e-02 9.99685677e-01 0.00000000e+00 2.13848169e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.03546632e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.31, Y:0.22, Z:0.00 [[ 9.99717532e-01 2.37667049e-02 0.00000000e+00 8.13078575e+01] [-2.37667049e-02 9.99717532e-01 0.00000000e+00 2.17186072e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35001352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.34, Y:0.22, Z:0.00 [[ 9.99715707e-01 2.38433257e-02 0.00000000e+00 8.13366340e+01] [-2.38433257e-02 9.99715707e-01 0.00000000e+00 2.18994229e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18688918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.37, Y:0.22, Z:-0.00 [[ 9.99837546e-01 1.80244780e-02 0.00000000e+00 8.13735120e+01] [-1.80244780e-02 9.99837546e-01 0.00000000e+00 2.23904918e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.87235962e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.39, Y:0.22, Z:0.00 [[ 9.99740091e-01 2.27980371e-02 0.00000000e+00 8.13921600e+01] [-2.27980371e-02 9.99740091e-01 0.00000000e+00 2.21381418e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49580244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.42, Y:0.23, Z:0.01 [[ 9.99866534e-01 1.63375212e-02 0.00000000e+00 8.14201383e+01] [-1.63375212e-02 9.99866534e-01 0.00000000e+00 2.33294474e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62788398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.45, Y:0.24, Z:0.01 [[ 9.99885368e-01 1.51410256e-02 0.00000000e+00 8.14479009e+01] [-1.51410256e-02 9.99885368e-01 0.00000000e+00 2.38835899e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.30156531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.48, Y:0.23, Z:0.01 [[ 9.99805053e-01 1.97447543e-02 0.00000000e+00 8.14763967e+01] [-1.97447543e-02 9.99805053e-01 0.00000000e+00 2.31529071e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17616281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.50, Y:0.23, Z:0.01 [[ 9.99838305e-01 1.79823305e-02 0.00000000e+00 8.15040884e+01] [-1.79823305e-02 9.99838305e-01 0.00000000e+00 2.30946041e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.46152902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.53, Y:0.23, Z:0.01 [[ 9.99833751e-01 1.82337457e-02 0.00000000e+00 8.15305180e+01] [-1.82337457e-02 9.99833751e-01 0.00000000e+00 2.32540201e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81193763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.56, Y:0.24, Z:0.01 [[ 9.99812937e-01 1.93414495e-02 0.00000000e+00 8.15585078e+01] [-1.93414495e-02 9.99812937e-01 0.00000000e+00 2.35133353e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.15568048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.58, Y:0.25, Z:0.00 [[ 9.99885045e-01 1.51623369e-02 0.00000000e+00 8.15834376e+01] [-1.51623369e-02 9.99885045e-01 0.00000000e+00 2.45432632e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10721750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.62, Y:0.24, Z:0.00 [[ 9.99849528e-01 1.73470820e-02 0.00000000e+00 8.16220346e+01] [-1.73470820e-02 9.99849528e-01 0.00000000e+00 2.40704095e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10096811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.845336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.65, Y:0.24, Z:0.00 [[ 9.99814480e-01 1.92615047e-02 0.00000000e+00 8.16484860e+01] [-1.92615047e-02 9.99814480e-01 0.00000000e+00 2.42765079e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99724447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.67, Y:0.24, Z:0.01 [[ 9.99761976e-01 2.18172339e-02 0.00000000e+00 8.16704639e+01] [-2.18172339e-02 9.99761976e-01 0.00000000e+00 2.43038971e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91062908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.70, Y:0.25, Z:0.01 [[ 9.99749569e-01 2.23785529e-02 0.00000000e+00 8.16980176e+01] [-2.23785529e-02 9.99749569e-01 0.00000000e+00 2.46312837e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04360316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.72, Y:0.26, Z:0.01 [[ 9.99823159e-01 1.88055808e-02 0.00000000e+00 8.17205873e+01] [-1.88055808e-02 9.99823159e-01 0.00000000e+00 2.57673517e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27142659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.76, Y:0.25, Z:0.01 [[ 9.99740903e-01 2.27624196e-02 0.00000000e+00 8.17550744e+01] [-2.27624196e-02 9.99740903e-01 0.00000000e+00 2.51232344e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38187008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.78, Y:0.25, Z:0.01 [[ 9.99734352e-01 2.30483078e-02 0.00000000e+00 8.17820899e+01] [-2.30483078e-02 9.99734352e-01 0.00000000e+00 2.51773098e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.75899192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.025336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:81.81, Y:0.25, Z:0.00 [[ 9.99728213e-01 2.33130734e-02 0.00000000e+00 8.18102988e+01] [-2.33130734e-02 9.99728213e-01 0.00000000e+00 2.51954460e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77973060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.84, Y:0.25, Z:-0.00 [[ 9.99700736e-01 2.44630017e-02 0.00000000e+00 8.18369896e+01] [-2.44630017e-02 9.99700736e-01 0.00000000e+00 2.52111968e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.87983941e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.87, Y:0.26, Z:0.01 [[ 9.99683978e-01 2.51384815e-02 0.00000000e+00 8.18650071e+01] [-2.51384815e-02 9.99683978e-01 0.00000000e+00 2.56152616e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36213564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.89, Y:0.27, Z:0.02 [[ 9.99649014e-01 2.64924234e-02 0.00000000e+00 8.18926275e+01] [-2.64924234e-02 9.99649014e-01 0.00000000e+00 2.65607135e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14100672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.91, Y:0.27, Z:0.02 [[ 9.99637267e-01 2.69320178e-02 0.00000000e+00 8.19091463e+01] [-2.69320178e-02 9.99637267e-01 0.00000000e+00 2.71396464e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39043185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.95, Y:0.27, Z:0.01 [[ 9.99596692e-01 2.83981286e-02 0.00000000e+00 8.19480568e+01] [-2.83981286e-02 9.99596692e-01 0.00000000e+00 2.65193388e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.04670305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.205336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:81.98, Y:0.27, Z:0.00 [[ 9.99596016e-01 2.84219015e-02 0.00000000e+00 8.19758845e+01] [-2.84219015e-02 9.99596016e-01 0.00000000e+00 2.66983285e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78564838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.235336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:82.00, Y:0.27, Z:0.01 [[ 9.99612491e-01 2.78364627e-02 0.00000000e+00 8.20029244e+01] [-2.78364627e-02 9.99612491e-01 0.00000000e+00 2.70899666e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.72508601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.03, Y:0.28, Z:0.01 [[ 9.99688845e-01 2.49441958e-02 0.00000000e+00 8.20306741e+01] [-2.49441958e-02 9.99688845e-01 0.00000000e+00 2.76754515e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40059343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.06, Y:0.28, Z:0.02 [[ 9.99741196e-01 2.27495392e-02 0.00000000e+00 8.20585929e+01] [-2.27495392e-02 9.99741196e-01 0.00000000e+00 2.79090199e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54014340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32533619499999 meters Centerline goodness : 0.999880 Centerline is valid? [True, True] Translation: X:82.09, Y:0.28, Z:0.01 [[ 9.99839403e-01 1.79211507e-02 0.00000000e+00 8.20861228e+01] [-1.79211507e-02 9.99839403e-01 0.00000000e+00 2.80012499e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28456564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.11, Y:0.28, Z:0.01 [[ 9.99886250e-01 1.50826682e-02 0.00000000e+00 8.21130838e+01] [-1.50826682e-02 9.99886250e-01 0.00000000e+00 2.80825256e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.08177000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.385336195 meters Centerline goodness : 0.999976 Centerline is valid? [True, True] Translation: X:82.14, Y:0.28, Z:0.01 [[ 9.99933390e-01 1.15419081e-02 0.00000000e+00 8.21405901e+01] [-1.15419081e-02 9.99933390e-01 0.00000000e+00 2.81661894e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.63271328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.17, Y:0.28, Z:0.01 [[ 9.99991488e-01 4.12593753e-03 0.00000000e+00 8.21688225e+01] [-4.12593753e-03 9.99991488e-01 0.00000000e+00 2.83824945e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29882653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.20, Y:0.29, Z:0.02 [[ 9.99999433e-01 1.06503882e-03 0.00000000e+00 8.21960958e+01] [-1.06503882e-03 9.99999433e-01 0.00000000e+00 2.87658579e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87750850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.22, Y:0.29, Z:0.02 [[ 9.99998340e-01 -1.82232232e-03 0.00000000e+00 8.22246070e+01] [ 1.82232232e-03 9.99998340e-01 0.00000000e+00 2.89914233e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89545722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.26, Y:0.29, Z:0.01 [[ 9.99997097e-01 -2.40973354e-03 0.00000000e+00 8.22556778e+01] [ 2.40973354e-03 9.99997097e-01 0.00000000e+00 2.89369223e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06637482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.29, Y:0.29, Z:0.00 [[ 9.99984508e-01 -5.56638805e-03 0.00000000e+00 8.22887850e+01] [ 5.56638805e-03 9.99984508e-01 0.00000000e+00 2.87428246e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.45042848e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.32, Y:0.29, Z:0.00 [[ 9.99965135e-01 -8.35039844e-03 0.00000000e+00 8.23219398e+01] [ 8.35039844e-03 9.99965135e-01 0.00000000e+00 2.90177092e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07259285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.595336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.35, Y:0.29, Z:0.01 [[ 9.99936669e-01 -1.12542351e-02 0.00000000e+00 8.23549827e+01] [ 1.12542351e-02 9.99936669e-01 0.00000000e+00 2.93876242e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94172439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.39, Y:0.30, Z:0.02 [[ 9.99825984e-01 -1.86547890e-02 0.00000000e+00 8.23859355e+01] [ 1.86547890e-02 9.99825984e-01 0.00000000e+00 2.96569446e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63983142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.42, Y:0.30, Z:0.01 [[ 9.99785084e-01 -2.07312979e-02 0.00000000e+00 8.24179577e+01] [ 2.07312979e-02 9.99785084e-01 0.00000000e+00 2.96817231e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36856795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.45, Y:0.29, Z:0.01 [[ 9.99734114e-01 -2.30586384e-02 0.00000000e+00 8.24510617e+01] [ 2.30586384e-02 9.99734114e-01 0.00000000e+00 2.91925597e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19276737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.48, Y:0.29, Z:0.01 [[ 9.99743706e-01 -2.26389457e-02 0.00000000e+00 8.24840414e+01] [ 2.26389457e-02 9.99743706e-01 0.00000000e+00 2.91905555e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65054064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.52, Y:0.29, Z:0.01 [[ 9.99802679e-01 -1.98646144e-02 0.00000000e+00 8.25162389e+01] [ 1.98646144e-02 9.99802679e-01 0.00000000e+00 2.92765855e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.05331230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.55, Y:0.30, Z:0.01 [[ 9.99824709e-01 -1.87230379e-02 0.00000000e+00 8.25480587e+01] [ 1.87230379e-02 9.99824709e-01 0.00000000e+00 2.95042515e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08651374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.58, Y:0.30, Z:0.02 [[ 9.99844908e-01 -1.76113307e-02 0.00000000e+00 8.25799360e+01] [ 1.76113307e-02 9.99844908e-01 0.00000000e+00 2.97705692e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50055039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.61, Y:0.30, Z:0.02 [[ 9.99848119e-01 -1.74281054e-02 0.00000000e+00 8.26136598e+01] [ 1.74281054e-02 9.99848119e-01 0.00000000e+00 3.00179730e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50055039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.65, Y:0.30, Z:0.02 [[ 9.99882120e-01 -1.53540133e-02 0.00000000e+00 8.26460474e+01] [ 1.53540133e-02 9.99882120e-01 0.00000000e+00 3.01856426e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74473075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.68, Y:0.30, Z:0.02 [[ 9.99888146e-01 -1.49564602e-02 0.00000000e+00 8.26784662e+01] [ 1.49564602e-02 9.99888146e-01 0.00000000e+00 3.03212451e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61917203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.71, Y:0.30, Z:0.01 [[ 9.99909314e-01 -1.34671182e-02 0.00000000e+00 8.27107733e+01] [ 1.34671182e-02 9.99909314e-01 0.00000000e+00 3.04103630e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41009030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.74, Y:0.31, Z:0.01 [[ 9.99923478e-01 -1.23708807e-02 0.00000000e+00 8.27442802e+01] [ 1.23708807e-02 9.99923478e-01 0.00000000e+00 3.06556469e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43109741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.78, Y:0.31, Z:0.01 [[ 9.99946266e-01 -1.03665178e-02 0.00000000e+00 8.27775946e+01] [ 1.03665178e-02 9.99946266e-01 0.00000000e+00 3.08495988e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20880343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.81, Y:0.30, Z:-0.00 [[ 9.99986012e-01 -5.28912282e-03 0.00000000e+00 8.28104954e+01] [ 5.28912282e-03 9.99986012e-01 0.00000000e+00 3.04180693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02778554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.84, Y:0.31, Z:-0.00 [[ 9.99996503e-01 -2.64478368e-03 0.00000000e+00 8.28428802e+01] [ 2.64478368e-03 9.99996503e-01 0.00000000e+00 3.05256925e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20566164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.87, Y:0.32, Z:0.02 [[ 9.99993296e-01 3.66172192e-03 0.00000000e+00 8.28739398e+01] [-3.66172192e-03 9.99993296e-01 0.00000000e+00 3.17839988e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24737659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.90, Y:0.33, Z:0.03 [[ 9.99978017e-01 6.63071241e-03 0.00000000e+00 8.28999963e+01] [-6.63071241e-03 9.99978017e-01 0.00000000e+00 3.25998340e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22116545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.93, Y:0.33, Z:0.02 [[ 9.99940911e-01 1.08707901e-02 0.00000000e+00 8.29270446e+01] [-1.08707901e-02 9.99940911e-01 0.00000000e+00 3.29111044e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45594138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.95, Y:0.33, Z:0.01 [[ 9.99928888e-01 1.19255975e-02 0.00000000e+00 8.29544457e+01] [-1.19255975e-02 9.99928888e-01 0.00000000e+00 3.27746505e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49027643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.98, Y:0.33, Z:0.01 [[ 9.99921241e-01 1.25504047e-02 0.00000000e+00 8.29817532e+01] [-1.25504047e-02 9.99921241e-01 0.00000000e+00 3.29469188e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02732618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.01, Y:0.33, Z:0.01 [[ 9.99932986e-01 1.15768928e-02 0.00000000e+00 8.30087198e+01] [-1.15768928e-02 9.99932986e-01 0.00000000e+00 3.34950732e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36648812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.04, Y:0.34, Z:0.02 [[ 9.99947582e-01 1.02388563e-02 0.00000000e+00 8.30351715e+01] [-1.02388563e-02 9.99947582e-01 0.00000000e+00 3.40312500e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55491599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.06, Y:0.34, Z:0.02 [[ 9.99980714e-01 6.21053161e-03 0.00000000e+00 8.30629710e+01] [-6.21053161e-03 9.99980714e-01 0.00000000e+00 3.44597122e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65427819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.09, Y:0.35, Z:0.01 [[ 9.99990294e-01 4.40583139e-03 0.00000000e+00 8.30896708e+01] [-4.40583139e-03 9.99990294e-01 0.00000000e+00 3.45345836e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39936645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.345336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.12, Y:0.35, Z:0.01 [[ 9.99999870e-01 -5.10848020e-04 0.00000000e+00 8.31183464e+01] [ 5.10848020e-04 9.99999870e-01 0.00000000e+00 3.46001580e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33260741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.15, Y:0.35, Z:0.01 [[ 9.99994715e-01 -3.25111472e-03 0.00000000e+00 8.31490065e+01] [ 3.25111472e-03 9.99994715e-01 0.00000000e+00 3.50190319e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33342433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.18, Y:0.35, Z:0.02 [[ 9.99987991e-01 -4.90088800e-03 0.00000000e+00 8.31820027e+01] [ 4.90088800e-03 9.99987991e-01 0.00000000e+00 3.54781366e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05287391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.21, Y:0.36, Z:0.02 [[ 9.99969745e-01 -7.77875052e-03 0.00000000e+00 8.32148368e+01] [ 7.77875052e-03 9.99969745e-01 0.00000000e+00 3.58649871e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21249966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.25, Y:0.36, Z:0.01 [[ 9.99956169e-01 -9.36273541e-03 0.00000000e+00 8.32478677e+01] [ 9.36273541e-03 9.99956169e-01 0.00000000e+00 3.56040292e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33377639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.28, Y:0.36, Z:0.01 [[ 9.99953215e-01 -9.67309054e-03 0.00000000e+00 8.32803686e+01] [ 9.67309054e-03 9.99953215e-01 0.00000000e+00 3.58008527e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.56258382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.31, Y:0.36, Z:0.01 [[ 9.99952358e-01 -9.76124300e-03 0.00000000e+00 8.33123588e+01] [ 9.76124300e-03 9.99952358e-01 0.00000000e+00 3.62499864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26097902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.34, Y:0.37, Z:0.02 [[ 9.99949559e-01 -1.00439029e-02 0.00000000e+00 8.33449863e+01] [ 1.00439029e-02 9.99949559e-01 0.00000000e+00 3.68161933e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70733611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.38, Y:0.37, Z:0.01 [[ 9.99945642e-01 -1.04265331e-02 0.00000000e+00 8.33786953e+01] [ 1.04265331e-02 9.99945642e-01 0.00000000e+00 3.69512324e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43699283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.41, Y:0.37, Z:0.02 [[ 9.99938597e-01 -1.10815898e-02 0.00000000e+00 8.34122155e+01] [ 1.10815898e-02 9.99938597e-01 0.00000000e+00 3.70583452e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55064530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.44, Y:0.37, Z:0.01 [[ 9.99938005e-01 -1.11348810e-02 0.00000000e+00 8.34440833e+01] [ 1.11348810e-02 9.99938005e-01 0.00000000e+00 3.72730390e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47849632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.48, Y:0.37, Z:0.01 [[ 9.99936116e-01 -1.13033061e-02 0.00000000e+00 8.34776202e+01] [ 1.13033061e-02 9.99936116e-01 0.00000000e+00 3.73934463e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11665904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.51, Y:0.37, Z:0.01 [[ 9.99921830e-01 -1.25033738e-02 0.00000000e+00 8.35100070e+01] [ 1.25033738e-02 9.99921830e-01 0.00000000e+00 3.73283760e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.20826628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.54, Y:0.38, Z:0.02 [[ 9.99918125e-01 -1.27962150e-02 0.00000000e+00 8.35427876e+01] [ 1.27962150e-02 9.99918125e-01 0.00000000e+00 3.75791075e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60679225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.57, Y:0.38, Z:0.03 [[ 9.99928531e-01 -1.19554882e-02 0.00000000e+00 8.35746688e+01] [ 1.19554882e-02 9.99928531e-01 0.00000000e+00 3.79604495e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59136568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.61, Y:0.38, Z:0.03 [[ 9.99937862e-01 -1.11477098e-02 0.00000000e+00 8.36081759e+01] [ 1.11477098e-02 9.99937862e-01 0.00000000e+00 3.81474988e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60906255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.64, Y:0.38, Z:0.02 [[ 9.99944941e-01 -1.04935316e-02 0.00000000e+00 8.36418688e+01] [ 1.04935316e-02 9.99944941e-01 0.00000000e+00 3.82293336e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36381908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.68, Y:0.38, Z:0.02 [[ 9.99959475e-01 -9.00263110e-03 0.00000000e+00 8.36754847e+01] [ 9.00263110e-03 9.99959475e-01 0.00000000e+00 3.80121608e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68985817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.71, Y:0.38, Z:0.02 [[ 9.99966203e-01 -8.22147709e-03 0.00000000e+00 8.37078504e+01] [ 8.22147709e-03 9.99966203e-01 0.00000000e+00 3.80413915e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51939993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.74, Y:0.38, Z:0.01 [[ 9.99969486e-01 -7.81199506e-03 0.00000000e+00 8.37403184e+01] [ 7.81199506e-03 9.99969486e-01 0.00000000e+00 3.79844664e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35708818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.77, Y:0.38, Z:0.01 [[ 9.99968314e-01 -7.96060457e-03 0.00000000e+00 8.37721471e+01] [ 7.96060457e-03 9.99968314e-01 0.00000000e+00 3.80797917e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35119684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.80, Y:0.38, Z:0.01 [[ 9.99968524e-01 -7.93417471e-03 0.00000000e+00 8.38048632e+01] [ 7.93417471e-03 9.99968524e-01 0.00000000e+00 3.81562307e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28038054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.84, Y:0.38, Z:0.02 [[ 9.99962942e-01 -8.60896976e-03 0.00000000e+00 8.38381208e+01] [ 8.60896976e-03 9.99962942e-01 0.00000000e+00 3.80473322e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51093377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.87, Y:0.38, Z:0.02 [[ 9.99963898e-01 -8.49718411e-03 0.00000000e+00 8.38709262e+01] [ 8.49718411e-03 9.99963898e-01 0.00000000e+00 3.82057172e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85153496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.90, Y:0.38, Z:0.02 [[ 9.99980357e-01 -6.26784592e-03 0.00000000e+00 8.39036932e+01] [ 6.26784592e-03 9.99980357e-01 0.00000000e+00 3.82723916e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13255279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.095336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.94, Y:0.38, Z:0.02 [[ 9.99991852e-01 -4.03683403e-03 0.00000000e+00 8.39358529e+01] [ 4.03683403e-03 9.99991852e-01 0.00000000e+00 3.83145004e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84647856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.97, Y:0.38, Z:0.02 [[ 9.99997457e-01 -2.25530992e-03 0.00000000e+00 8.39676992e+01] [ 2.25530992e-03 9.99997457e-01 0.00000000e+00 3.83908219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52391656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.00, Y:0.38, Z:0.01 [[ 9.99999958e-01 2.89312741e-04 0.00000000e+00 8.40002865e+01] [-2.89312741e-04 9.99999958e-01 0.00000000e+00 3.82615770e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29483523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.03, Y:0.38, Z:0.01 [[ 9.99997692e-01 2.14841873e-03 0.00000000e+00 8.40299465e+01] [-2.14841873e-03 9.99997692e-01 0.00000000e+00 3.82784156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15884775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.06, Y:0.38, Z:0.01 [[ 9.99974957e-01 7.07703458e-03 0.00000000e+00 8.40576456e+01] [-7.07703458e-03 9.99974957e-01 0.00000000e+00 3.82636097e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37675260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.09, Y:0.39, Z:0.02 [[ 9.99954143e-01 9.57665064e-03 0.00000000e+00 8.40851316e+01] [-9.57665064e-03 9.99954143e-01 0.00000000e+00 3.85048331e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61410512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.11, Y:0.39, Z:0.02 [[ 9.99905282e-01 1.37632346e-02 0.00000000e+00 8.41119650e+01] [-1.37632346e-02 9.99905282e-01 0.00000000e+00 3.88762799e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93046821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.14, Y:0.39, Z:0.02 [[ 9.99888949e-01 1.49026672e-02 0.00000000e+00 8.41389520e+01] [-1.49026672e-02 9.99888949e-01 0.00000000e+00 3.91154642e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90494686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.17, Y:0.39, Z:0.02 [[ 9.99875466e-01 1.57814286e-02 0.00000000e+00 8.41667199e+01] [-1.57814286e-02 9.99875466e-01 0.00000000e+00 3.92664274e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77748392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.19, Y:0.39, Z:0.01 [[ 9.99855948e-01 1.69730065e-02 0.00000000e+00 8.41945992e+01] [-1.69730065e-02 9.99855948e-01 0.00000000e+00 3.90804215e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47405105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.22, Y:0.39, Z:0.02 [[ 9.99854646e-01 1.70495135e-02 0.00000000e+00 8.42212019e+01] [-1.70495135e-02 9.99854646e-01 0.00000000e+00 3.91759839e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54611236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.25, Y:0.39, Z:0.02 [[ 9.99847494e-01 1.74639028e-02 0.00000000e+00 8.42486341e+01] [-1.74639028e-02 9.99847494e-01 0.00000000e+00 3.94483300e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08648864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.28, Y:0.40, Z:0.02 [[ 9.99841796e-01 1.77871416e-02 0.00000000e+00 8.42757392e+01] [-1.77871416e-02 9.99841796e-01 0.00000000e+00 3.96762230e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30541980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.30, Y:0.40, Z:0.02 [[ 9.99837296e-01 1.80383127e-02 0.00000000e+00 8.43024932e+01] [-1.80383127e-02 9.99837296e-01 0.00000000e+00 3.97835094e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25435171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.33, Y:0.40, Z:0.01 [[ 9.99830400e-01 1.84166046e-02 0.00000000e+00 8.43295562e+01] [-1.84166046e-02 9.99830400e-01 0.00000000e+00 3.95056851e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46144010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.36, Y:0.40, Z:0.01 [[ 9.99804491e-01 1.97732001e-02 0.00000000e+00 8.43572113e+01] [-1.97732001e-02 9.99804491e-01 0.00000000e+00 3.96351030e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44064593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.38, Y:0.40, Z:0.02 [[ 9.99800980e-01 1.99499506e-02 0.00000000e+00 8.43845374e+01] [-1.99499506e-02 9.99800980e-01 0.00000000e+00 3.99713737e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75118591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.41, Y:0.40, Z:0.02 [[ 9.99812031e-01 1.93882083e-02 0.00000000e+00 8.44118662e+01] [-1.93882083e-02 9.99812031e-01 0.00000000e+00 4.02761658e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04366789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.44, Y:0.40, Z:0.02 [[ 9.99836435e-01 1.80860082e-02 0.00000000e+00 8.44388982e+01] [-1.80860082e-02 9.99836435e-01 0.00000000e+00 4.03922395e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94287721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.47, Y:0.40, Z:0.01 [[ 9.99856291e-01 1.69527808e-02 0.00000000e+00 8.44664927e+01] [-1.69527808e-02 9.99856291e-01 0.00000000e+00 4.02381800e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41892680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.50, Y:0.40, Z:0.01 [[ 9.99887998e-01 1.49663662e-02 0.00000000e+00 8.44951714e+01] [-1.49663662e-02 9.99887998e-01 0.00000000e+00 3.96721661e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.22801949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.52, Y:0.40, Z:0.01 [[ 9.99901772e-01 1.40159282e-02 0.00000000e+00 8.45229314e+01] [-1.40159282e-02 9.99901772e-01 0.00000000e+00 3.99471307e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15379954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.55, Y:0.40, Z:0.01 [[ 9.99904512e-01 1.38191082e-02 0.00000000e+00 8.45510159e+01] [-1.38191082e-02 9.99904512e-01 0.00000000e+00 4.01716156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15379954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.58, Y:0.41, Z:0.02 [[ 9.99917910e-01 1.28130119e-02 0.00000000e+00 8.45770006e+01] [-1.28130119e-02 9.99917910e-01 0.00000000e+00 4.06080044e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65494767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.60, Y:0.41, Z:0.02 [[ 9.99922816e-01 1.24242872e-02 0.00000000e+00 8.46048720e+01] [-1.24242872e-02 9.99922816e-01 0.00000000e+00 4.10388876e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15521633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.845336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.63, Y:0.41, Z:0.02 [[ 9.99917468e-01 1.28474368e-02 0.00000000e+00 8.46319601e+01] [-1.28474368e-02 9.99917468e-01 0.00000000e+00 4.10755628e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95573689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.66, Y:0.41, Z:0.01 [[ 9.99907144e-01 1.36272839e-02 0.00000000e+00 8.46595876e+01] [-1.36272839e-02 9.99907144e-01 0.00000000e+00 4.09455242e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24978865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.69, Y:0.41, Z:0.01 [[ 9.99913894e-01 1.31227115e-02 0.00000000e+00 8.46869131e+01] [-1.31227115e-02 9.99913894e-01 0.00000000e+00 4.10741974e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09417779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.71, Y:0.41, Z:0.01 [[ 9.99926775e-01 1.21014264e-02 0.00000000e+00 8.47142212e+01] [-1.21014264e-02 9.99926775e-01 0.00000000e+00 4.13387489e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12363151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.74, Y:0.42, Z:0.01 [[ 9.99929586e-01 1.18668940e-02 0.00000000e+00 8.47412874e+01] [-1.18668940e-02 9.99929586e-01 0.00000000e+00 4.16260563e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24405027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.77, Y:0.42, Z:0.01 [[ 9.99931043e-01 1.17435018e-02 0.00000000e+00 8.47679310e+01] [-1.17435018e-02 9.99931043e-01 0.00000000e+00 4.18279838e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18283404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.80, Y:0.42, Z:0.01 [[ 9.99932474e-01 1.16209548e-02 0.00000000e+00 8.47951962e+01] [-1.16209548e-02 9.99932474e-01 0.00000000e+00 4.18323854e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.00589429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.82, Y:0.42, Z:0.01 [[ 9.99937020e-01 1.12229696e-02 0.00000000e+00 8.48227978e+01] [-1.12229696e-02 9.99937020e-01 0.00000000e+00 4.20169407e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07937905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.85, Y:0.42, Z:0.02 [[ 9.99965379e-01 8.32114553e-03 0.00000000e+00 8.48501213e+01] [-8.32114553e-03 9.99965379e-01 0.00000000e+00 4.24501430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88268043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.88, Y:0.43, Z:0.02 [[ 9.99981322e-01 6.11185305e-03 0.00000000e+00 8.48778570e+01] [-6.11185305e-03 9.99981322e-01 0.00000000e+00 4.27213908e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19339967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.91, Y:0.43, Z:0.02 [[ 9.99998969e-01 1.43585501e-03 0.00000000e+00 8.49066329e+01] [-1.43585501e-03 9.99998969e-01 0.00000000e+00 4.27158674e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04459817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.94, Y:0.43, Z:0.02 [[ 9.99999551e-01 -9.47242419e-04 0.00000000e+00 8.49358364e+01] [ 9.47242419e-04 9.99999551e-01 0.00000000e+00 4.28347810e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75700978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.97, Y:0.43, Z:0.01 [[ 9.99988979e-01 -4.69478823e-03 0.00000000e+00 8.49667724e+01] [ 4.69478823e-03 9.99988979e-01 0.00000000e+00 4.31446644e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15491790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.00, Y:0.44, Z:0.01 [[ 9.99971616e-01 -7.53443180e-03 0.00000000e+00 8.49991271e+01] [ 7.53443180e-03 9.99971616e-01 0.00000000e+00 4.37492609e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19570340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.03, Y:0.45, Z:0.02 [[ 9.99974631e-01 -7.12300974e-03 0.00000000e+00 8.50311836e+01] [ 7.12300974e-03 9.99974631e-01 0.00000000e+00 4.45174246e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77935557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.06, Y:0.45, Z:0.02 [[ 9.99985330e-01 -5.41669204e-03 0.00000000e+00 8.50625079e+01] [ 5.41669204e-03 9.99985330e-01 0.00000000e+00 4.53373703e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75596130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.09, Y:0.46, Z:0.00 [[ 9.99999630e-01 -8.60070914e-04 0.00000000e+00 8.50939292e+01] [ 8.60070914e-04 9.99999630e-01 0.00000000e+00 4.58933104e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93286439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35533619499999 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:85.12, Y:0.46, Z:0.00 [[ 9.99999824e-01 5.94133000e-04 0.00000000e+00 8.51244783e+01] [-5.94133000e-04 9.99999824e-01 0.00000000e+00 4.64794665e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78662868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.15, Y:0.47, Z:0.00 [[ 9.99998169e-01 1.91362230e-03 0.00000000e+00 8.51533444e+01] [-1.91362230e-03 9.99998169e-01 0.00000000e+00 4.68666048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97638938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.18, Y:0.47, Z:0.00 [[ 9.99995501e-01 2.99982091e-03 0.00000000e+00 8.51807978e+01] [-2.99982091e-03 9.99995501e-01 0.00000000e+00 4.71134529e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17912042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.21, Y:0.47, Z:0.00 [[ 9.99995721e-01 2.92524154e-03 0.00000000e+00 8.52090779e+01] [-2.92524154e-03 9.99995721e-01 0.00000000e+00 4.73446048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17912042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.24, Y:0.48, Z:0.00 [[ 9.99991476e-01 4.12896228e-03 0.00000000e+00 8.52370739e+01] [-4.12896228e-03 9.99991476e-01 0.00000000e+00 4.76063543e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38850903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.26, Y:0.48, Z:0.00 [[ 9.99986419e-01 5.21170648e-03 0.00000000e+00 8.52646621e+01] [-5.21170648e-03 9.99986419e-01 0.00000000e+00 4.79190917e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86280776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.29, Y:0.48, Z:0.01 [[ 9.99981963e-01 6.00606972e-03 0.00000000e+00 8.52917221e+01] [-6.00606972e-03 9.99981963e-01 0.00000000e+00 4.82625530e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76309999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.32, Y:0.49, Z:0.01 [[ 9.99980433e-01 6.25574012e-03 0.00000000e+00 8.53200264e+01] [-6.25574012e-03 9.99980433e-01 0.00000000e+00 4.86018730e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.41815183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.595336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.35, Y:0.49, Z:0.02 [[ 9.99971950e-01 7.48999833e-03 0.00000000e+00 8.53489123e+01] [-7.48999833e-03 9.99971950e-01 0.00000000e+00 4.88090326e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55498129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.38, Y:0.47, Z:0.03 [[ 9.99392058e-01 3.48642216e-02 0.00000000e+00 8.53772001e+01] [-3.48642216e-02 9.99392058e-01 0.00000000e+00 4.72658523e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53068235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.41, Y:0.46, Z:0.02 [[ 9.99573273e-01 2.92108302e-02 0.00000000e+00 8.54061381e+01] [-2.92108302e-02 9.99573273e-01 0.00000000e+00 4.58625198e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42141840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.43, Y:0.46, Z:0.03 [[ 9.99615257e-01 2.77369584e-02 0.00000000e+00 8.54332758e+01] [-2.77369584e-02 9.99615257e-01 0.00000000e+00 4.59062972e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59978571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.46, Y:0.46, Z:0.03 [[ 9.99656935e-01 2.61918420e-02 0.00000000e+00 8.54606235e+01] [-2.61918420e-02 9.99656935e-01 0.00000000e+00 4.58804246e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68806810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.49, Y:0.46, Z:0.03 [[ 9.99683469e-01 2.51587396e-02 0.00000000e+00 8.54887664e+01] [-2.51587396e-02 9.99683469e-01 0.00000000e+00 4.57485889e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57537925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.52, Y:0.45, Z:0.02 [[ 9.99710031e-01 2.40801573e-02 0.00000000e+00 8.55166280e+01] [-2.40801573e-02 9.99710031e-01 0.00000000e+00 4.54220317e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11621832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.54, Y:0.45, Z:0.01 [[ 9.99726209e-01 2.33988884e-02 0.00000000e+00 8.55442487e+01] [-2.33988884e-02 9.99726209e-01 0.00000000e+00 4.49770022e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42869940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.57, Y:0.45, Z:0.01 [[ 9.99737761e-01 2.28999885e-02 0.00000000e+00 8.55714776e+01] [-2.28999885e-02 9.99737761e-01 0.00000000e+00 4.45848773e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40220876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.60, Y:0.45, Z:0.01 [[ 9.99742151e-01 2.27075093e-02 0.00000000e+00 8.55995684e+01] [-2.27075093e-02 9.99742151e-01 0.00000000e+00 4.48186944e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40220876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.63, Y:0.45, Z:0.01 [[ 9.99746505e-01 2.25150292e-02 0.00000000e+00 8.56276589e+01] [-2.25150292e-02 9.99746505e-01 0.00000000e+00 4.50530523e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40220876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.66, Y:0.45, Z:0.01 [[ 9.99755965e-01 2.20909524e-02 0.00000000e+00 8.56552072e+01] [-2.20909524e-02 9.99755965e-01 0.00000000e+00 4.48811076e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.86237041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.68, Y:0.45, Z:0.01 [[ 9.99760327e-01 2.18926700e-02 0.00000000e+00 8.56832893e+01] [-2.18926700e-02 9.99760327e-01 0.00000000e+00 4.51154364e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.86237041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.71, Y:0.45, Z:0.01 [[ 9.99774931e-01 2.12152765e-02 0.00000000e+00 8.57097022e+01] [-2.12152765e-02 9.99774931e-01 0.00000000e+00 4.52295919e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33101872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.74, Y:0.45, Z:0.01 [[ 9.99779079e-01 2.10188844e-02 0.00000000e+00 8.57377863e+01] [-2.10188844e-02 9.99779079e-01 0.00000000e+00 4.54651373e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33101872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.77, Y:0.46, Z:0.01 [[ 9.99783188e-01 2.08224915e-02 0.00000000e+00 8.57658700e+01] [-2.08224915e-02 9.99783188e-01 0.00000000e+00 4.57012344e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33101872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.79, Y:0.46, Z:0.02 [[ 9.99796298e-01 2.01832442e-02 0.00000000e+00 8.57939402e+01] [-2.01832442e-02 9.99796298e-01 0.00000000e+00 4.58900001e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14651159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.82, Y:0.46, Z:0.02 [[ 9.99800229e-01 1.99875484e-02 0.00000000e+00 8.58220242e+01] [-1.99875484e-02 9.99800229e-01 0.00000000e+00 4.61273134e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14651159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.85, Y:0.46, Z:0.02 [[ 9.99804122e-01 1.97918519e-02 0.00000000e+00 8.58501077e+01] [-1.97918519e-02 9.99804122e-01 0.00000000e+00 4.63651764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14651159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.88, Y:0.46, Z:0.03 [[ 9.99826873e-01 1.86070728e-02 0.00000000e+00 8.58782006e+01] [-1.86070728e-02 9.99826873e-01 0.00000000e+00 4.64252201e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81330447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.91, Y:0.47, Z:0.03 [[ 9.99830555e-01 1.84082114e-02 0.00000000e+00 8.59062793e+01] [-1.84082114e-02 9.99830555e-01 0.00000000e+00 4.66636355e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81330447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.93, Y:0.46, Z:0.03 [[ 9.99853385e-01 1.71233083e-02 0.00000000e+00 8.59335558e+01] [-1.71233083e-02 9.99853385e-01 0.00000000e+00 4.63572652e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88989331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.96, Y:0.47, Z:0.03 [[ 9.99856705e-01 1.69283636e-02 0.00000000e+00 8.59616402e+01] [-1.69283636e-02 9.99856705e-01 0.00000000e+00 4.65972789e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88989331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.285336195 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.99, Y:0.46, Z:0.02 [[ 9.99893503e-01 1.45939265e-02 0.00000000e+00 8.59898257e+01] [-1.45939265e-02 9.99893503e-01 0.00000000e+00 4.60093107e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45216742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.315336195 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:86.02, Y:0.46, Z:0.02 [[ 9.99896323e-01 1.43994028e-02 0.00000000e+00 8.60179111e+01] [-1.43994028e-02 9.99896323e-01 0.00000000e+00 4.62505363e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45216742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.345336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.05, Y:0.46, Z:0.02 [[ 9.99929366e-01 1.18854476e-02 0.00000000e+00 8.60462655e+01] [-1.18854476e-02 9.99929366e-01 0.00000000e+00 4.56877741e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05202912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.07, Y:0.46, Z:0.02 [[ 9.99931649e-01 1.16917505e-02 0.00000000e+00 8.60743529e+01] [-1.16917505e-02 9.99931649e-01 0.00000000e+00 4.59302554e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05202912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.10, Y:0.46, Z:0.02 [[ 9.99933895e-01 1.14980531e-02 0.00000000e+00 8.61024397e+01] [-1.14980531e-02 9.99933895e-01 0.00000000e+00 4.61732808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05202912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.13, Y:0.46, Z:0.02 [[ 9.99955681e-01 9.41469026e-03 0.00000000e+00 8.61300267e+01] [-9.41469026e-03 9.99955681e-01 0.00000000e+00 4.57827397e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04572717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46533619499999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:86.16, Y:0.46, Z:0.02 [[ 9.99970607e-01 7.66719980e-03 0.00000000e+00 8.61578417e+01] [-7.66719980e-03 9.99970607e-01 0.00000000e+00 4.56525244e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41627634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.495336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:86.19, Y:0.46, Z:0.02 [[ 9.99971152e-01 7.59578866e-03 0.00000000e+00 8.61861226e+01] [-7.59578866e-03 9.99971152e-01 0.00000000e+00 4.58982859e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41627634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.525336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:86.21, Y:0.46, Z:0.02 [[ 9.99971691e-01 7.52437749e-03 0.00000000e+00 8.62144034e+01] [-7.52437749e-03 9.99971691e-01 0.00000000e+00 4.61442493e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41627634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.555336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.24, Y:0.46, Z:0.03 [[ 9.99984419e-01 5.58224486e-03 0.00000000e+00 8.62422936e+01] [-5.58224486e-03 9.99984419e-01 0.00000000e+00 4.61306780e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86157497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.27, Y:0.46, Z:0.03 [[ 9.99994455e-01 3.33007069e-03 0.00000000e+00 8.62693272e+01] [-3.33007069e-03 9.99994455e-01 0.00000000e+00 4.59913800e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94092613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.30, Y:0.45, Z:0.02 [[ 9.99999556e-01 -9.42203784e-04 0.00000000e+00 8.62986894e+01] [ 9.42203784e-04 9.99999556e-01 0.00000000e+00 4.48641281e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67976374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.33, Y:0.45, Z:0.02 [[ 9.99999580e-01 -9.16945668e-04 0.00000000e+00 8.63304536e+01] [ 9.16945668e-04 9.99999580e-01 0.00000000e+00 4.51264897e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67976374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.36, Y:0.44, Z:0.01 [[ 9.99991656e-01 -4.08505537e-03 0.00000000e+00 8.63631354e+01] [ 4.08505537e-03 9.99991656e-01 0.00000000e+00 4.37554514e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.36572074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.705336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.40, Y:0.43, Z:0.01 [[ 9.99984491e-01 -5.56941862e-03 0.00000000e+00 8.63958789e+01] [ 5.56941862e-03 9.99984491e-01 0.00000000e+00 4.33796333e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17298453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73533619499999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:86.43, Y:0.43, Z:0.02 [[ 9.99977589e-01 -6.69495046e-03 0.00000000e+00 8.64296309e+01] [ 6.69495046e-03 9.99977589e-01 0.00000000e+00 4.31331752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56023182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.46, Y:0.43, Z:0.02 [[ 9.99970707e-01 -7.65409275e-03 0.00000000e+00 8.64630120e+01] [ 7.65409275e-03 9.99970707e-01 0.00000000e+00 4.30215996e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96687342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.50, Y:0.43, Z:0.03 [[ 9.99964498e-01 -8.42627361e-03 0.00000000e+00 8.64958488e+01] [ 8.42627361e-03 9.99964498e-01 0.00000000e+00 4.26285906e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55272520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82533619499999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:86.53, Y:0.42, Z:0.02 [[ 9.99959295e-01 -9.02263381e-03 0.00000000e+00 8.65297914e+01] [ 9.02263381e-03 9.99959295e-01 0.00000000e+00 4.15125309e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26025807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.56, Y:0.41, Z:0.02 [[ 9.99954620e-01 -9.52666492e-03 0.00000000e+00 8.65627401e+01] [ 9.52666492e-03 9.99954620e-01 0.00000000e+00 4.09015791e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83527003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.885336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.60, Y:0.40, Z:0.02 [[ 9.99951741e-01 -9.82422800e-03 0.00000000e+00 8.65964501e+01] [ 9.82422800e-03 9.99951741e-01 0.00000000e+00 4.04920262e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54771271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.63, Y:0.40, Z:0.02 [[ 9.99961522e-01 -8.77232537e-03 0.00000000e+00 8.66301342e+01] [ 8.77232537e-03 9.99961522e-01 0.00000000e+00 4.01404504e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78803952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.945336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.66, Y:0.40, Z:0.02 [[ 9.99964971e-01 -8.36997755e-03 0.00000000e+00 8.66622497e+01] [ 8.36997755e-03 9.99964971e-01 0.00000000e+00 4.02334756e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28391821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.70, Y:0.40, Z:0.02 [[ 9.99969967e-01 -7.75020463e-03 0.00000000e+00 8.66955342e+01] [ 7.75020463e-03 9.99969967e-01 0.00000000e+00 3.97096825e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20016712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.73, Y:0.39, Z:0.02 [[ 9.99973248e-01 -7.31455776e-03 0.00000000e+00 8.67285895e+01] [ 7.31455776e-03 9.99973248e-01 0.00000000e+00 3.93604022e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65573353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.035336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:86.76, Y:0.39, Z:0.01 [[ 9.99975685e-01 -6.97347927e-03 0.00000000e+00 8.67617121e+01] [ 6.97347927e-03 9.99975685e-01 0.00000000e+00 3.89892460e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10704061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.79, Y:0.38, Z:0.01 [[ 9.99977507e-01 -6.70714444e-03 0.00000000e+00 8.67944617e+01] [ 6.70714444e-03 9.99977507e-01 0.00000000e+00 3.84228225e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.88639023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.095336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:86.83, Y:0.39, Z:0.01 [[ 9.99979245e-01 -6.44279240e-03 0.00000000e+00 8.68272561e+01] [ 6.44279240e-03 9.99979245e-01 0.00000000e+00 3.85156203e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19420028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.86, Y:0.39, Z:0.01 [[ 9.99986656e-01 -5.16597596e-03 0.00000000e+00 8.68584088e+01] [ 5.16597596e-03 9.99986656e-01 0.00000000e+00 3.86220451e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23940580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15533619499999 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:86.89, Y:0.39, Z:0.01 [[ 9.99990333e-01 -4.39702367e-03 0.00000000e+00 8.68912314e+01] [ 4.39702367e-03 9.99990333e-01 0.00000000e+00 3.85667657e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.79569096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18533619499999 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:86.92, Y:0.38, Z:0.00 [[ 9.99993263e-01 -3.67061060e-03 0.00000000e+00 8.69233800e+01] [ 3.67061060e-03 9.99993263e-01 0.00000000e+00 3.82230726e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16926425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.96, Y:0.37, Z:-0.01 [[ 9.99992900e-01 -3.76837345e-03 0.00000000e+00 8.69563819e+01] [ 3.76837345e-03 9.99992900e-01 0.00000000e+00 3.71764218e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.67767620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.245336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:86.99, Y:0.37, Z:-0.01 [[ 9.99991925e-01 -4.01864571e-03 0.00000000e+00 8.69891114e+01] [ 4.01864571e-03 9.99991925e-01 0.00000000e+00 3.71000198e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.35637205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.275336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:87.02, Y:0.37, Z:-0.00 [[ 9.99992895e-01 -3.76964299e-03 0.00000000e+00 8.70204109e+01] [ 3.76964299e-03 9.99992895e-01 0.00000000e+00 3.72484565e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83907940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.305336195 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:87.08, Y:0.01, Z:0.01 [[ 9.99730408e-01 2.32187555e-02 0.00000000e+00 8.70798196e+01] [-2.32187555e-02 9.99730408e-01 0.00000000e+00 1.14730972e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12740290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.11, Y:0.01, Z:0.02 [[ 9.99815380e-01 1.92147116e-02 0.00000000e+00 8.71080956e+01] [-1.92147116e-02 9.99815380e-01 0.00000000e+00 1.13805431e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79011746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.365336195 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:87.14, Y:0.01, Z:0.02 [[ 9.99856514e-01 1.69396592e-02 0.00000000e+00 8.71372725e+01] [-1.69396592e-02 9.99856514e-01 0.00000000e+00 1.19062046e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95846219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.395336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:87.17, Y:0.01, Z:0.02 [[ 9.99906558e-01 1.36702127e-02 0.00000000e+00 8.71659008e+01] [-1.36702127e-02 9.99906558e-01 0.00000000e+00 7.05377365e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95085160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.425336195 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:87.19, Y:-0.00, Z:0.01 [[ 9.99919411e-01 1.26953440e-02 0.00000000e+00 8.71947429e+01] [-1.26953440e-02 9.99919411e-01 0.00000000e+00 -1.40571915e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23425782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.455336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:87.22, Y:-0.00, Z:0.01 [[ 9.99908885e-01 1.34989840e-02 0.00000000e+00 8.72231181e+01] [-1.34989840e-02 9.99908885e-01 0.00000000e+00 -3.86853463e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06270963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48533619499999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:87.25, Y:-0.00, Z:0.02 [[ 9.99864151e-01 1.64827024e-02 0.00000000e+00 8.72507358e+01] [-1.64827024e-02 9.99864151e-01 0.00000000e+00 -2.85314824e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69136758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51533619499999 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:87.28, Y:0.00, Z:0.02 [[ 9.99816969e-01 1.91318682e-02 0.00000000e+00 8.72793533e+01] [-1.91318682e-02 9.99816969e-01 0.00000000e+00 5.56318607e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10353096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54533619499999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:87.31, Y:0.00, Z:0.02 [[ 9.99616091e-01 2.77068848e-02 0.00000000e+00 8.73078102e+01] [-2.77068848e-02 9.99616091e-01 0.00000000e+00 1.13010962e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34470099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57533619499999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:87.33, Y:-0.00, Z:0.02 [[ 9.99294585e-01 3.75543834e-02 0.00000000e+00 8.73348111e+01] [-3.75543834e-02 9.99294585e-01 0.00000000e+00 -6.73433290e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00618153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60533619499999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:87.36, Y:0.00, Z:0.02 [[ 9.99127324e-01 4.17682889e-02 0.00000000e+00 8.73622297e+01] [-4.17682889e-02 9.99127324e-01 0.00000000e+00 1.05723031e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03072899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.635336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:87.39, Y:0.00, Z:0.02 [[ 9.98707100e-01 5.08343184e-02 0.00000000e+00 8.73891008e+01] [-5.08343184e-02 9.98707100e-01 0.00000000e+00 3.87799847e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96309398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.665336195 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:87.42, Y:0.01, Z:0.02 [[ 9.98529290e-01 5.42149196e-02 0.00000000e+00 8.74155551e+01] [-5.42149196e-02 9.98529290e-01 0.00000000e+00 8.36531170e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04926946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.44, Y:0.02, Z:0.03 [[ 9.98311638e-01 5.80850564e-02 0.00000000e+00 8.74439287e+01] [-5.80850564e-02 9.98311638e-01 0.00000000e+00 1.70382718e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12899224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.725336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:87.47, Y:0.02, Z:0.03 [[ 9.98273945e-01 5.87292933e-02 0.00000000e+00 8.74718429e+01] [-5.87292933e-02 9.98273945e-01 0.00000000e+00 2.17593036e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37224312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.755336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.50, Y:0.02, Z:0.03 [[ 9.98328497e-01 5.77945600e-02 0.00000000e+00 8.75003471e+01] [-5.77945600e-02 9.98328497e-01 0.00000000e+00 2.04032597e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71296933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.785336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:87.53, Y:0.02, Z:0.02 [[ 9.98621031e-01 5.24979715e-02 0.00000000e+00 8.75288531e+01] [-5.24979715e-02 9.98621031e-01 0.00000000e+00 1.67580625e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32113688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.815336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.56, Y:0.02, Z:0.03 [[ 9.98977743e-01 4.52047412e-02 0.00000000e+00 8.75568384e+01] [-4.52047412e-02 9.98977743e-01 0.00000000e+00 2.06865906e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80578674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.845336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:87.58, Y:0.02, Z:0.03 [[ 9.99135276e-01 4.15776364e-02 0.00000000e+00 8.75834107e+01] [-4.15776364e-02 9.99135276e-01 0.00000000e+00 2.44519985e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08036380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87533619499999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:87.61, Y:0.02, Z:0.03 [[ 9.99399053e-01 3.46631255e-02 0.00000000e+00 8.76105151e+01] [-3.46631255e-02 9.99399053e-01 0.00000000e+00 2.44016733e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85798831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90533619499999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:87.64, Y:0.02, Z:0.03 [[ 9.99501427e-01 3.15736864e-02 0.00000000e+00 8.76386306e+01] [-3.15736864e-02 9.99501427e-01 0.00000000e+00 2.30007107e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57143212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93533619499999 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:87.67, Y:0.02, Z:0.03 [[ 9.99642478e-01 2.67379144e-02 0.00000000e+00 8.76661479e+01] [-2.67379144e-02 9.99642478e-01 0.00000000e+00 2.13049298e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68526822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96533619499999 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:87.69, Y:0.02, Z:0.03 [[ 9.99684776e-01 2.51067347e-02 0.00000000e+00 8.76938625e+01] [-2.51067347e-02 9.99684776e-01 0.00000000e+00 2.37234334e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92112313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.995336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:87.72, Y:0.03, Z:0.03 [[ 9.99734588e-01 2.30381013e-02 0.00000000e+00 8.77205781e+01] [-2.30381013e-02 9.99734588e-01 0.00000000e+00 2.59794904e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12026947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.025336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:87.75, Y:0.03, Z:0.03 [[ 9.99760206e-01 2.18981912e-02 0.00000000e+00 8.77480961e+01] [-2.18981912e-02 9.99760206e-01 0.00000000e+00 2.53812314e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24294980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.055336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:87.78, Y:0.02, Z:0.03 [[ 9.99743585e-01 2.26442815e-02 0.00000000e+00 8.77758956e+01] [-2.26442815e-02 9.99743585e-01 0.00000000e+00 2.22818803e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74257773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.085336195 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:87.80, Y:0.02, Z:0.03 [[ 9.99748331e-01 2.24337943e-02 0.00000000e+00 8.78037342e+01] [-2.24337943e-02 9.99748331e-01 0.00000000e+00 2.25407409e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78827973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.115336195 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:87.83, Y:0.02, Z:0.03 [[ 9.99759830e-01 2.19153519e-02 0.00000000e+00 8.78317143e+01] [-2.19153519e-02 9.99759830e-01 0.00000000e+00 2.25726893e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37565611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.145336195 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:87.86, Y:0.02, Z:0.03 [[ 9.99766038e-01 2.16302849e-02 0.00000000e+00 8.78602503e+01] [-2.16302849e-02 9.99766038e-01 0.00000000e+00 2.36368958e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26485977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.175336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.89, Y:0.02, Z:0.03 [[ 9.99769382e-01 2.14751680e-02 0.00000000e+00 8.78894471e+01] [-2.14751680e-02 9.99769382e-01 0.00000000e+00 1.99501363e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58899256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.205336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:87.92, Y:0.02, Z:0.03 [[ 9.99775760e-01 2.11761754e-02 0.00000000e+00 8.79187688e+01] [-2.11761754e-02 9.99775760e-01 0.00000000e+00 1.88509648e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74202065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23533619499999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:87.95, Y:0.02, Z:0.03 [[ 9.99780455e-01 2.09533084e-02 0.00000000e+00 8.79479492e+01] [-2.09533084e-02 9.99780455e-01 0.00000000e+00 1.59722020e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20173355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26533619499999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:87.98, Y:0.01, Z:0.03 [[ 9.99723880e-01 2.34981662e-02 0.00000000e+00 8.79762505e+01] [-2.34981662e-02 9.99723880e-01 0.00000000e+00 1.31028280e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81624251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29533619499999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:88.00, Y:0.01, Z:0.03 [[ 9.99665169e-01 2.58756438e-02 0.00000000e+00 8.80047108e+01] [-2.58756438e-02 9.99665169e-01 0.00000000e+00 1.17515849e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94442225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.03, Y:0.01, Z:0.04 [[ 9.99562688e-01 2.95708148e-02 0.00000000e+00 8.80323735e+01] [-2.95708148e-02 9.99562688e-01 0.00000000e+00 8.89673492e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58493968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35533619499999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:88.06, Y:0.01, Z:0.03 [[ 9.99481677e-01 3.21928089e-02 0.00000000e+00 8.80602016e+01] [-3.21928089e-02 9.99481677e-01 0.00000000e+00 8.49446530e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05702059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.385336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.09, Y:0.01, Z:0.03 [[ 9.99432846e-01 3.36747205e-02 0.00000000e+00 8.80878091e+01] [-3.36747205e-02 9.99432846e-01 0.00000000e+00 8.76785372e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80399520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.415336195 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:88.12, Y:0.01, Z:0.03 [[ 9.99360740e-01 3.57506872e-02 0.00000000e+00 8.81170370e+01] [-3.57506872e-02 9.99360740e-01 0.00000000e+00 7.13957481e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15888911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.445336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:88.14, Y:0.01, Z:0.03 [[ 9.99337318e-01 3.63995253e-02 0.00000000e+00 8.81445192e+01] [-3.63995253e-02 9.99337318e-01 0.00000000e+00 8.07400246e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20369283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.475336195 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:88.17, Y:0.00, Z:0.03 [[ 9.99289614e-01 3.76864332e-02 0.00000000e+00 8.81729210e+01] [-3.76864332e-02 9.99289614e-01 0.00000000e+00 4.58027997e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57395136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.505336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:88.20, Y:-0.00, Z:0.02 [[ 9.99241275e-01 3.89470719e-02 0.00000000e+00 8.82017606e+01] [-3.89470719e-02 9.99241275e-01 0.00000000e+00 -1.95512918e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46704595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.535336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:88.23, Y:-0.00, Z:0.03 [[ 9.99245371e-01 3.88418421e-02 0.00000000e+00 8.82300569e+01] [-3.88418421e-02 9.99245371e-01 0.00000000e+00 -1.81319952e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59172227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.565336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:88.26, Y:0.00, Z:0.03 [[ 9.99253508e-01 3.86319320e-02 0.00000000e+00 8.82582383e+01] [-3.86319320e-02 9.99253508e-01 0.00000000e+00 8.04716490e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59172227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.595336195 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:88.29, Y:0.00, Z:0.03 [[ 9.99293143e-01 3.75927456e-02 0.00000000e+00 8.82854398e+01] [-3.75927456e-02 9.99293143e-01 0.00000000e+00 1.18614796e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72215332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:88.31, Y:0.00, Z:0.03 [[ 9.99330442e-01 3.65878096e-02 0.00000000e+00 8.83137064e+01] [-3.65878096e-02 9.99330442e-01 0.00000000e+00 3.09579848e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93297875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.34, Y:0.00, Z:0.03 [[ 9.99385740e-01 3.50448797e-02 0.00000000e+00 8.83420423e+01] [-3.50448797e-02 9.99385740e-01 0.00000000e+00 1.27165240e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14231656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:88.37, Y:-0.00, Z:0.02 [[ 9.99433947e-01 3.36420095e-02 0.00000000e+00 8.83701478e+01] [-3.36420095e-02 9.99433947e-01 0.00000000e+00 -4.56881231e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36092951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71533619499999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:88.40, Y:-0.01, Z:0.02 [[ 9.99456218e-01 3.29737542e-02 0.00000000e+00 8.83981851e+01] [-3.29737542e-02 9.99456218e-01 0.00000000e+00 -6.43236190e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23199316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.745336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:88.43, Y:-0.01, Z:0.02 [[ 9.99465973e-01 3.26767403e-02 0.00000000e+00 8.84262106e+01] [-3.26767403e-02 9.99465973e-01 0.00000000e+00 -9.23055705e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40833014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.775336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:88.45, Y:-0.01, Z:0.03 [[ 9.99459504e-01 3.28740077e-02 0.00000000e+00 8.84543808e+01] [-3.28740077e-02 9.99459504e-01 0.00000000e+00 -8.87648632e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80459244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.805336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:88.48, Y:-0.01, Z:0.03 [[ 9.99442587e-01 3.33843542e-02 0.00000000e+00 8.84823433e+01] [-3.33843542e-02 9.99442587e-01 0.00000000e+00 -1.01597582e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69972742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.835336195 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:88.51, Y:-0.02, Z:0.02 [[ 9.99437080e-01 3.35488061e-02 0.00000000e+00 8.85101633e+01] [-3.35488061e-02 9.99437080e-01 0.00000000e+00 -1.78742553e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46871359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.54, Y:-0.02, Z:0.03 [[ 9.99457553e-01 3.29332725e-02 0.00000000e+00 8.85367384e+01] [-3.29332725e-02 9.99457553e-01 0.00000000e+00 -1.81514808e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56320098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.895336195 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:88.56, Y:-0.02, Z:0.03 [[ 9.99542170e-01 3.02563958e-02 0.00000000e+00 8.85645271e+01] [-3.02563958e-02 9.99542170e-01 0.00000000e+00 -1.69204320e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65087449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.925336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:88.59, Y:-0.02, Z:0.02 [[ 9.99624768e-01 2.73920452e-02 0.00000000e+00 8.85936022e+01] [-2.73920452e-02 9.99624768e-01 0.00000000e+00 -2.23165523e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97439911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.955336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:88.62, Y:-0.03, Z:0.01 [[ 9.99656373e-01 2.62132931e-02 0.00000000e+00 8.86221249e+01] [-2.62132931e-02 9.99656373e-01 0.00000000e+00 -2.66264622e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35095500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.65, Y:-0.04, Z:0.01 [[ 9.99717244e-01 2.37788079e-02 0.00000000e+00 8.86512551e+01] [-2.37788079e-02 9.99717244e-01 0.00000000e+00 -3.65440971e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12233293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01533619499999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:88.68, Y:-0.04, Z:0.02 [[ 9.99732210e-01 2.31410317e-02 0.00000000e+00 8.86805050e+01] [-2.31410317e-02 9.99732210e-01 0.00000000e+00 -3.66238613e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89838824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:88.71, Y:-0.03, Z:0.03 [[ 9.99746996e-01 2.24932077e-02 0.00000000e+00 8.87095739e+01] [-2.24932077e-02 9.99746996e-01 0.00000000e+00 -3.38411199e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16671719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.74, Y:-0.04, Z:0.03 [[ 9.99740084e-01 2.27983465e-02 0.00000000e+00 8.87363595e+01] [-2.27983465e-02 9.99740084e-01 0.00000000e+00 -3.62017953e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28301215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10533619499999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:88.76, Y:-0.04, Z:0.03 [[ 9.99728318e-01 2.33086010e-02 0.00000000e+00 8.87644982e+01] [-2.33086010e-02 9.99728318e-01 0.00000000e+00 -3.99438107e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84914470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.135336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:88.79, Y:-0.05, Z:0.02 [[ 9.99695188e-01 2.46886934e-02 0.00000000e+00 8.87929820e+01] [-2.46886934e-02 9.99695188e-01 0.00000000e+00 -5.10686866e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91446960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.165336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:88.82, Y:-0.05, Z:0.02 [[ 9.99666846e-01 2.58108029e-02 0.00000000e+00 8.88215209e+01] [-2.58108029e-02 9.99666846e-01 0.00000000e+00 -5.22812144e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95223171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.195336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:88.85, Y:-0.05, Z:0.03 [[ 9.99596927e-01 2.83898345e-02 0.00000000e+00 8.88498375e+01] [-2.83898345e-02 9.99596927e-01 0.00000000e+00 -5.06132601e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64073413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.88, Y:-0.05, Z:0.03 [[ 9.99538719e-01 3.03702192e-02 0.00000000e+00 8.88777412e+01] [-3.03702192e-02 9.99538719e-01 0.00000000e+00 -5.03340720e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92928208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.255336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:88.91, Y:-0.05, Z:0.03 [[ 9.99536307e-01 3.04494881e-02 0.00000000e+00 8.89058920e+01] [-3.04494881e-02 9.99536307e-01 0.00000000e+00 -5.07428747e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87931980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.285336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:88.93, Y:-0.06, Z:0.02 [[ 9.99539444e-01 3.03463349e-02 0.00000000e+00 8.89340035e+01] [-3.03463349e-02 9.99539444e-01 0.00000000e+00 -5.63285623e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35838064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.96, Y:-0.06, Z:0.02 [[ 9.99515964e-01 3.11100748e-02 0.00000000e+00 8.89622497e+01] [-3.11100748e-02 9.99515964e-01 0.00000000e+00 -6.22292754e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05174775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.345336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:88.99, Y:-0.06, Z:0.02 [[ 9.99476816e-01 3.23433786e-02 0.00000000e+00 8.89908922e+01] [-3.23433786e-02 9.99476816e-01 0.00000000e+00 -6.09661100e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34420780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37533619499999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:89.02, Y:-0.06, Z:0.03 [[ 9.99369379e-01 3.55083773e-02 0.00000000e+00 8.90178540e+01] [-3.55083773e-02 9.99369379e-01 0.00000000e+00 -5.54375902e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81937055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.05, Y:-0.05, Z:0.03 [[ 9.99329952e-01 3.66011787e-02 0.00000000e+00 8.90452942e+01] [-3.66011787e-02 9.99329952e-01 0.00000000e+00 -5.22225636e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82757934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:-0.05, Z:0.03 [[ 9.99239332e-01 3.89968897e-02 0.00000000e+00 8.90734211e+01] [-3.89968897e-02 9.99239332e-01 0.00000000e+00 -5.19351005e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87983282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.10, Y:-0.05, Z:0.03 [[ 9.99184647e-01 4.03737638e-02 0.00000000e+00 8.91008606e+01] [-4.03737638e-02 9.99184647e-01 0.00000000e+00 -5.08235074e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54391115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.13, Y:-0.05, Z:0.02 [[ 9.99209839e-01 3.97453991e-02 0.00000000e+00 8.91278742e+01] [-3.97453991e-02 9.99209839e-01 0.00000000e+00 -4.82695598e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35242561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.16, Y:-0.04, Z:0.02 [[ 9.99380816e-01 3.51850016e-02 0.00000000e+00 8.91556898e+01] [-3.51850016e-02 9.99380816e-01 0.00000000e+00 -4.47159094e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45204549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.555336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:89.18, Y:-0.04, Z:0.02 [[ 9.99480010e-01 3.22445413e-02 0.00000000e+00 8.91822942e+01] [-3.22445413e-02 9.99480010e-01 0.00000000e+00 -4.23912345e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30317813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.585336195 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:89.21, Y:-0.04, Z:0.02 [[ 9.99676340e-01 2.54404160e-02 0.00000000e+00 8.92108263e+01] [-2.54404160e-02 9.99676340e-01 0.00000000e+00 -3.96882650e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23003002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.615336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.24, Y:-0.04, Z:0.02 [[ 9.99821404e-01 1.88986950e-02 0.00000000e+00 8.92385494e+01] [-1.88986950e-02 9.99821404e-01 0.00000000e+00 -3.70742383e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95408783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.645336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:89.27, Y:-0.03, Z:0.02 [[ 9.99870548e-01 1.60899684e-02 0.00000000e+00 8.92671635e+01] [-1.60899684e-02 9.99870548e-01 0.00000000e+00 -3.37700422e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23022232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.675336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.30, Y:-0.03, Z:0.03 [[ 9.99914440e-01 1.30809973e-02 0.00000000e+00 8.92957394e+01] [-1.30809973e-02 9.99914440e-01 0.00000000e+00 -2.72951094e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21082003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.32, Y:-0.02, Z:0.03 [[ 9.99934425e-01 1.14518701e-02 0.00000000e+00 8.93227889e+01] [-1.14518701e-02 9.99934425e-01 0.00000000e+00 -2.32286555e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25632767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.35, Y:-0.02, Z:0.03 [[ 9.99969748e-01 7.77843540e-03 0.00000000e+00 8.93505739e+01] [-7.77843540e-03 9.99969748e-01 0.00000000e+00 -1.95217360e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93195344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.38, Y:-0.02, Z:0.02 [[ 9.99984614e-01 5.54719063e-03 0.00000000e+00 8.93782793e+01] [-5.54719063e-03 9.99984614e-01 0.00000000e+00 -1.69138668e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45643688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:89.41, Y:-0.02, Z:0.02 [[ 9.99993225e-01 3.68106256e-03 0.00000000e+00 8.94075014e+01] [-3.68106256e-03 9.99993225e-01 0.00000000e+00 -1.54600964e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17106245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82533619499999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:89.43, Y:-0.01, Z:0.03 [[ 9.99999827e-01 5.88867854e-04 0.00000000e+00 8.94345918e+01] [-5.88867854e-04 9.99999827e-01 0.00000000e+00 -9.06557849e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67546053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.46, Y:-0.00, Z:0.03 [[ 9.99999949e-01 3.20907438e-04 0.00000000e+00 8.94645870e+01] [-3.20907438e-04 9.99999949e-01 0.00000000e+00 -2.24090408e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21600243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.49, Y:0.00, Z:0.03 [[ 9.99999983e-01 1.85132538e-04 0.00000000e+00 8.94943260e+01] [-1.85132538e-04 9.99999983e-01 0.00000000e+00 1.51202089e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03002554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.52, Y:-0.00, Z:0.03 [[ 9.99999314e-01 1.17152944e-03 0.00000000e+00 8.95246253e+01] [-1.17152944e-03 9.99999314e-01 0.00000000e+00 -1.29526095e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53312743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.55, Y:0.00, Z:0.02 [[ 9.99998325e-01 1.83052042e-03 0.00000000e+00 8.95534218e+01] [-1.83052042e-03 9.99998325e-01 0.00000000e+00 2.81609035e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47560647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.975336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.58, Y:0.01, Z:0.02 [[ 9.99996695e-01 2.57109466e-03 0.00000000e+00 8.95815948e+01] [-2.57109466e-03 9.99996695e-01 0.00000000e+00 1.42017330e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20697129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.61, Y:0.02, Z:0.02 [[ 9.99988361e-01 4.82478083e-03 0.00000000e+00 8.96102861e+01] [-4.82478083e-03 9.99988361e-01 0.00000000e+00 2.02771616e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79267258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.035336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:89.64, Y:0.02, Z:0.01 [[ 9.99979314e-01 6.43204942e-03 0.00000000e+00 8.96376169e+01] [-6.43204942e-03 9.99979314e-01 0.00000000e+00 2.20276400e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38064222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.065336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:89.67, Y:0.03, Z:0.02 [[ 9.99954330e-01 9.55711825e-03 0.00000000e+00 8.96659878e+01] [-9.55711825e-03 9.99954330e-01 0.00000000e+00 2.74357313e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64030473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.095336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.69, Y:0.03, Z:0.02 [[ 9.99947733e-01 1.02240155e-02 0.00000000e+00 8.96930529e+01] [-1.02240155e-02 9.99947733e-01 0.00000000e+00 3.44144485e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02941372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12533619499999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:89.72, Y:0.05, Z:0.03 [[ 9.99951494e-01 9.84931211e-03 0.00000000e+00 8.97202458e+01] [-9.84931211e-03 9.99951494e-01 0.00000000e+00 4.76217325e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71313999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15533619499999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.75, Y:0.06, Z:0.03 [[ 9.99960815e-01 8.85259773e-03 0.00000000e+00 8.97462257e+01] [-8.85259773e-03 9.99960815e-01 0.00000000e+00 5.50536095e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68430163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18533619499999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:89.77, Y:0.06, Z:0.02 [[ 9.99994912e-01 3.18986541e-03 0.00000000e+00 8.97741452e+01] [-3.18986541e-03 9.99994912e-01 0.00000000e+00 6.06548124e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46005812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21533619499999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:89.80, Y:0.06, Z:0.02 [[ 9.99979808e-01 -6.35478456e-03 0.00000000e+00 8.98025469e+01] [ 6.35478456e-03 9.99979808e-01 0.00000000e+00 6.09895242e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32528800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.245336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:89.84, Y:0.06, Z:0.03 [[ 9.99848654e-01 -1.73974057e-02 0.00000000e+00 8.98359461e+01] [ 1.73974057e-02 9.99848654e-01 0.00000000e+00 6.46175021e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51028815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.275336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.87, Y:0.07, Z:0.03 [[ 9.99741705e-01 -2.27271638e-02 0.00000000e+00 8.98674040e+01] [ 2.27271638e-02 9.99741705e-01 0.00000000e+00 6.86303234e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67932751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.305336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:89.90, Y:0.07, Z:0.03 [[ 9.99475614e-01 -3.23804924e-02 0.00000000e+00 8.98999837e+01] [ 3.23804924e-02 9.99475614e-01 0.00000000e+00 7.01101788e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90808091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.335336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:89.93, Y:0.07, Z:0.03 [[ 9.99336891e-01 -3.64112470e-02 0.00000000e+00 8.99334864e+01] [ 3.64112470e-02 9.99336891e-01 0.00000000e+00 7.06563896e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92536338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.365336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:89.97, Y:0.07, Z:0.03 [[ 9.99091160e-01 -4.26245658e-02 0.00000000e+00 8.99674159e+01] [ 4.26245658e-02 9.99091160e-01 0.00000000e+00 6.83229735e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84318108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.395336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:90.00, Y:0.07, Z:0.03 [[ 9.99016332e-01 -4.43437424e-02 0.00000000e+00 9.00001585e+01] [ 4.43437424e-02 9.99016332e-01 0.00000000e+00 6.75813457e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58863287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.425336195 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:90.03, Y:0.06, Z:0.02 [[ 9.99017845e-01 -4.43096508e-02 0.00000000e+00 9.00334905e+01] [ 4.43096508e-02 9.99017845e-01 0.00000000e+00 6.32997440e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31468836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.455336195 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:90.07, Y:0.07, Z:0.02 [[ 9.99026185e-01 -4.41212093e-02 0.00000000e+00 9.00670257e+01] [ 4.41212093e-02 9.99026185e-01 0.00000000e+00 6.62108544e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31468836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:0.06, Z:0.03 [[ 9.99202449e-01 -3.99307718e-02 0.00000000e+00 9.00992097e+01] [ 3.99307718e-02 9.99202449e-01 0.00000000e+00 6.40196463e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80762663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51533619499999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:90.13, Y:0.06, Z:0.03 [[ 9.99300502e-01 -3.73966218e-02 0.00000000e+00 9.01327835e+01] [ 3.73966218e-02 9.99300502e-01 0.00000000e+00 6.41003956e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06058455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54533619499999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:90.17, Y:0.06, Z:0.03 [[ 9.99472711e-01 -3.24699815e-02 0.00000000e+00 9.01657230e+01] [ 3.24699815e-02 9.99472711e-01 0.00000000e+00 5.98573172e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05367959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57533619499999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:90.20, Y:0.06, Z:0.03 [[ 9.99568485e-01 -2.93742000e-02 0.00000000e+00 9.01976445e+01] [ 2.93742000e-02 9.99568485e-01 0.00000000e+00 5.93710083e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95751155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:0.05, Z:0.03 [[ 9.99708284e-01 -2.41525692e-02 0.00000000e+00 9.02316743e+01] [ 2.41525692e-02 9.99708284e-01 0.00000000e+00 5.35922695e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86235975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.635336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.26, Y:0.05, Z:0.03 [[ 9.99822721e-01 -1.88288812e-02 0.00000000e+00 9.02648186e+01] [ 1.88288812e-02 9.99822721e-01 0.00000000e+00 4.56233339e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61502658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:0.04, Z:0.02 [[ 9.99881902e-01 -1.53682385e-02 0.00000000e+00 9.02972084e+01] [ 1.53682385e-02 9.99881902e-01 0.00000000e+00 4.33163335e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32333385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.695336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:90.33, Y:0.04, Z:0.02 [[ 9.99974654e-01 -7.11978539e-03 0.00000000e+00 9.03285542e+01] [ 7.11978539e-03 9.99974654e-01 0.00000000e+00 3.84352053e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22508321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.725336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:90.36, Y:0.04, Z:0.03 [[ 9.99997300e-01 2.32391667e-03 0.00000000e+00 9.03604772e+01] [-2.32391667e-03 9.99997300e-01 0.00000000e+00 4.00293367e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06730655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.755336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.39, Y:0.04, Z:0.03 [[ 9.99975349e-01 7.02146761e-03 0.00000000e+00 9.03890688e+01] [-7.02146761e-03 9.99975349e-01 0.00000000e+00 4.25207990e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26009869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.785336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:90.42, Y:0.04, Z:0.03 [[ 9.99878762e-01 1.55711801e-02 0.00000000e+00 9.04158233e+01] [-1.55711801e-02 9.99878762e-01 0.00000000e+00 4.20997143e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35267728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.815336195 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:90.44, Y:0.04, Z:0.03 [[ 9.99817079e-01 1.91261444e-02 0.00000000e+00 9.04441469e+01] [-1.91261444e-02 9.99817079e-01 0.00000000e+00 4.21441921e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20482053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.845336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:0.04, Z:0.02 [[ 9.99695157e-01 2.46899488e-02 0.00000000e+00 9.04735601e+01] [-2.46899488e-02 9.99695157e-01 0.00000000e+00 3.75885552e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49001142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87533619499999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:90.50, Y:0.04, Z:0.03 [[ 9.99625211e-01 2.73758390e-02 0.00000000e+00 9.05012270e+01] [-2.73758390e-02 9.99625211e-01 0.00000000e+00 3.72417630e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59658978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90533619499999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:90.53, Y:0.04, Z:0.03 [[ 9.99642760e-01 2.67273715e-02 0.00000000e+00 9.05290490e+01] [-2.67273715e-02 9.99642760e-01 0.00000000e+00 4.09613023e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89241432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.55, Y:0.05, Z:0.04 [[ 9.99709615e-01 2.40974136e-02 0.00000000e+00 9.05549795e+01] [-2.40974136e-02 9.99709615e-01 0.00000000e+00 4.84035438e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65644309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96533619499999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:90.58, Y:0.05, Z:0.03 [[ 9.99779451e-01 2.10011578e-02 0.00000000e+00 9.05838553e+01] [-2.10011578e-02 9.99779451e-01 0.00000000e+00 4.78376363e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01099517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.995336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:90.61, Y:0.04, Z:0.02 [[ 9.99819953e-01 1.89752892e-02 0.00000000e+00 9.06131845e+01] [-1.89752892e-02 9.99819953e-01 0.00000000e+00 4.26605465e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23955122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.025336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:90.64, Y:0.03, Z:0.02 [[ 9.99896010e-01 1.44211480e-02 0.00000000e+00 9.06410350e+01] [-1.44211480e-02 9.99896010e-01 0.00000000e+00 3.18215332e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59704459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.055336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.67, Y:0.04, Z:0.02 [[ 9.99930899e-01 1.17557545e-02 0.00000000e+00 9.06677690e+01] [-1.17557545e-02 9.99930899e-01 0.00000000e+00 3.50257436e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90053828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.085336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:90.70, Y:0.05, Z:0.03 [[ 9.99982875e-01 5.85238513e-03 0.00000000e+00 9.06955225e+01] [-5.85238513e-03 9.99982875e-01 0.00000000e+00 4.66183446e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16221282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:0.05, Z:0.04 [[ 9.99999995e-01 1.01093419e-04 0.00000000e+00 9.07239050e+01] [-1.01093419e-04 9.99999995e-01 0.00000000e+00 4.73543435e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66589420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.75, Y:0.04, Z:0.03 [[ 9.99998307e-01 -1.84018704e-03 0.00000000e+00 9.07542486e+01] [ 1.84018704e-03 9.99998307e-01 0.00000000e+00 4.21723870e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34824697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.175336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.79, Y:0.03, Z:0.03 [[ 9.99992198e-01 -3.95014093e-03 0.00000000e+00 9.07864754e+01] [ 3.95014093e-03 9.99992198e-01 0.00000000e+00 2.95862696e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72115848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.205336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:90.82, Y:0.03, Z:0.03 [[ 9.99991582e-01 -4.10320359e-03 0.00000000e+00 9.08189659e+01] [ 4.10320359e-03 9.99991582e-01 0.00000000e+00 3.25011082e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25253736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23533619499999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:90.85, Y:0.04, Z:0.04 [[ 9.99993702e-01 -3.54914588e-03 0.00000000e+00 9.08506691e+01] [ 3.54914588e-03 9.99993702e-01 0.00000000e+00 3.89215676e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67099962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.88, Y:0.04, Z:0.04 [[ 9.99998541e-01 -1.70801226e-03 0.00000000e+00 9.08828376e+01] [ 1.70801226e-03 9.99998541e-01 0.00000000e+00 4.37772862e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93233523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:0.04, Z:0.04 [[ 9.99999396e-01 -1.09900173e-03 0.00000000e+00 9.09142223e+01] [ 1.09900173e-03 9.99999396e-01 0.00000000e+00 4.15512164e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68325445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.95, Y:0.03, Z:0.03 [[ 9.99997378e-01 -2.28990004e-03 0.00000000e+00 9.09469548e+01] [ 2.28990004e-03 9.99997378e-01 0.00000000e+00 2.93893570e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63714252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.98, Y:0.03, Z:0.03 [[ 9.99991280e-01 -4.17618482e-03 0.00000000e+00 9.09787688e+01] [ 4.17618482e-03 9.99991280e-01 0.00000000e+00 2.61746947e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64800555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.385336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:91.01, Y:0.03, Z:0.03 [[ 9.99987561e-01 -4.98782141e-03 0.00000000e+00 9.10112313e+01] [ 4.98782141e-03 9.99987561e-01 0.00000000e+00 2.88532666e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15198413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.04, Y:0.03, Z:0.04 [[ 9.99984940e-01 -5.48809076e-03 0.00000000e+00 9.10439206e+01] [ 5.48809076e-03 9.99984940e-01 0.00000000e+00 2.80498255e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53730354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.445336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:91.08, Y:0.03, Z:0.03 [[ 9.99986176e-01 -5.25812759e-03 0.00000000e+00 9.10752678e+01] [ 5.25812759e-03 9.99986176e-01 0.00000000e+00 2.76653652e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37501559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.11, Y:0.02, Z:0.03 [[ 9.99988870e-01 -4.71805939e-03 0.00000000e+00 9.11086297e+01] [ 4.71805939e-03 9.99988870e-01 0.00000000e+00 1.89802771e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94516588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.505336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.14, Y:0.01, Z:0.03 [[ 9.99999102e-01 -1.34051863e-03 0.00000000e+00 9.11419105e+01] [ 1.34051863e-03 9.99999102e-01 0.00000000e+00 6.15103923e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59551336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.17, Y:0.00, Z:0.03 [[ 9.99998902e-01 1.48199673e-03 0.00000000e+00 9.11727822e+01] [-1.48199673e-03 9.99998902e-01 0.00000000e+00 4.14892987e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60599159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.20, Y:0.00, Z:0.03 [[ 9.99957067e-01 9.26629383e-03 0.00000000e+00 9.12021279e+01] [-9.26629383e-03 9.99957067e-01 0.00000000e+00 3.39039707e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85883027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.595336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.23, Y:-0.00, Z:0.03 [[ 9.99855391e-01 1.70058165e-02 0.00000000e+00 9.12309123e+01] [-1.70058165e-02 9.99855391e-01 0.00000000e+00 -9.86481147e-04] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14521549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.26, Y:-0.00, Z:0.03 [[ 9.99793981e-01 2.02976670e-02 0.00000000e+00 9.12588204e+01] [-2.02976670e-02 9.99793981e-01 0.00000000e+00 -1.91812794e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27999844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.29, Y:-0.00, Z:0.03 [[ 9.99694564e-01 2.47139575e-02 0.00000000e+00 9.12875773e+01] [-2.47139575e-02 9.99694564e-01 0.00000000e+00 -4.56804487e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20424831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68533619499999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:91.32, Y:-0.01, Z:0.03 [[ 9.99578294e-01 2.90384878e-02 0.00000000e+00 9.13157912e+01] [-2.90384878e-02 9.99578294e-01 0.00000000e+00 -6.30243047e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99473517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.35, Y:-0.01, Z:0.03 [[ 9.99500024e-01 3.16180498e-02 0.00000000e+00 9.13450769e+01] [-3.16180498e-02 9.99500024e-01 0.00000000e+00 -5.14887317e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78793582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.37, Y:-0.00, Z:0.02 [[ 9.99340774e-01 3.63045220e-02 0.00000000e+00 9.13739874e+01] [-3.63045220e-02 9.99340774e-01 0.00000000e+00 -4.46712138e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25933195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.40, Y:-0.00, Z:0.02 [[ 9.99275588e-01 3.80565276e-02 0.00000000e+00 9.14017239e+01] [-3.80565276e-02 9.99275588e-01 0.00000000e+00 -2.03962441e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16433202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.43, Y:0.00, Z:0.03 [[ 9.99136350e-01 4.15518284e-02 0.00000000e+00 9.14289053e+01] [-4.15518284e-02 9.99136350e-01 0.00000000e+00 4.84767518e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68758531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.46, Y:0.01, Z:0.03 [[ 9.98999915e-01 4.47120860e-02 0.00000000e+00 9.14561205e+01] [-4.47120860e-02 9.98999915e-01 0.00000000e+00 1.17354337e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14385561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.48, Y:0.01, Z:0.03 [[ 9.98957377e-01 4.56525790e-02 0.00000000e+00 9.14836942e+01] [-4.56525790e-02 9.98957377e-01 0.00000000e+00 1.41577110e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05877700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.51, Y:0.02, Z:0.03 [[ 9.98955415e-01 4.56955032e-02 0.00000000e+00 9.15107626e+01] [-4.56955032e-02 9.98955415e-01 0.00000000e+00 2.03345509e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04882180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.925336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.54, Y:0.03, Z:0.03 [[ 9.99052488e-01 4.35215683e-02 0.00000000e+00 9.15378613e+01] [-4.35215683e-02 9.99052488e-01 0.00000000e+00 3.43450535e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18355576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.955336195 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:91.57, Y:0.04, Z:0.03 [[ 9.99100204e-01 4.24120491e-02 0.00000000e+00 9.15652134e+01] [-4.24120491e-02 9.99100204e-01 0.00000000e+00 4.13421355e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95373033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:91.59, Y:0.05, Z:0.03 [[ 9.99266505e-01 3.82942869e-02 0.00000000e+00 9.15935489e+01] [-3.82942869e-02 9.99266505e-01 0.00000000e+00 5.11924431e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57604192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.62, Y:0.06, Z:0.03 [[ 9.99382170e-01 3.51465312e-02 0.00000000e+00 9.16203462e+01] [-3.51465312e-02 9.99382170e-01 0.00000000e+00 5.87801068e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61099130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:91.65, Y:0.07, Z:0.03 [[ 9.99606253e-01 2.80595587e-02 0.00000000e+00 9.16476308e+01] [-2.80595587e-02 9.99606253e-01 0.00000000e+00 6.99315533e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77521605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.68, Y:0.08, Z:0.02 [[ 9.99818978e-01 1.90266152e-02 0.00000000e+00 9.16765066e+01] [-1.90266152e-02 9.99818978e-01 0.00000000e+00 7.54199557e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26146965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.71, Y:0.08, Z:0.02 [[ 9.99911466e-01 1.33063849e-02 0.00000000e+00 9.17050241e+01] [-1.33063849e-02 9.99911466e-01 0.00000000e+00 8.00716950e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02033936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.135336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:91.73, Y:0.09, Z:0.03 [[ 9.99998904e-01 1.48047931e-03 0.00000000e+00 9.17311294e+01] [-1.48047931e-03 9.99998904e-01 0.00000000e+00 9.41939514e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63132742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.165336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:91.76, Y:0.10, Z:0.03 [[ 9.99991891e-01 -4.02718811e-03 0.00000000e+00 9.17603037e+01] [ 4.02718811e-03 9.99991891e-01 0.00000000e+00 1.04238466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37107441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.79, Y:0.11, Z:0.04 [[ 9.99916245e-01 -1.29423201e-02 0.00000000e+00 9.17928693e+01] [ 1.29423201e-02 9.99916245e-01 0.00000000e+00 1.12959804e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82606855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.225336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:91.83, Y:0.11, Z:0.03 [[ 9.99818192e-01 -1.90678424e-02 0.00000000e+00 9.18260010e+01] [ 1.90678424e-02 9.99818192e-01 0.00000000e+00 1.08875961e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07942596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.255336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:91.86, Y:0.11, Z:0.03 [[ 9.99747654e-01 -2.24639157e-02 0.00000000e+00 9.18578596e+01] [ 2.24639157e-02 9.99747654e-01 0.00000000e+00 1.11528594e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88021797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.89, Y:0.12, Z:0.03 [[ 9.99741267e-01 -2.27463990e-02 0.00000000e+00 9.18896456e+01] [ 2.27463990e-02 9.99741267e-01 0.00000000e+00 1.18542881e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21161736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.315336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:91.92, Y:0.13, Z:0.04 [[ 9.99709058e-01 -2.41205252e-02 0.00000000e+00 9.19215592e+01] [ 2.41205252e-02 9.99709058e-01 0.00000000e+00 1.29791978e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67227129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.345336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:91.95, Y:0.13, Z:0.04 [[ 9.99701336e-01 -2.44384899e-02 0.00000000e+00 9.19532041e+01] [ 2.44384899e-02 9.99701336e-01 0.00000000e+00 1.33677441e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61069569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:91.99, Y:0.14, Z:0.04 [[ 9.99703042e-01 -2.43685864e-02 0.00000000e+00 9.19866290e+01] [ 2.43685864e-02 9.99703042e-01 0.00000000e+00 1.36603069e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61069569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40533619499999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:92.02, Y:0.13, Z:0.03 [[ 9.99737191e-01 -2.29248350e-02 0.00000000e+00 9.20198936e+01] [ 2.29248350e-02 9.99737191e-01 0.00000000e+00 1.34748797e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17799314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.05, Y:0.13, Z:0.03 [[ 9.99793593e-01 -2.03167988e-02 0.00000000e+00 9.20524893e+01] [ 2.03167988e-02 9.99793593e-01 0.00000000e+00 1.32259056e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81203548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.09, Y:0.14, Z:0.03 [[ 9.99834230e-01 -1.82074832e-02 0.00000000e+00 9.20851400e+01] [ 1.82074832e-02 9.99834230e-01 0.00000000e+00 1.36067726e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93254693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.495336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:92.12, Y:0.14, Z:0.03 [[ 9.99928661e-01 -1.19445480e-02 0.00000000e+00 9.21179255e+01] [ 1.19445480e-02 9.99928661e-01 0.00000000e+00 1.44123699e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42198075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.15, Y:0.15, Z:0.03 [[ 9.99988277e-01 -4.84215360e-03 0.00000000e+00 9.21497931e+01] [ 4.84215360e-03 9.99988277e-01 0.00000000e+00 1.46335665e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08495530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.555336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:92.18, Y:0.15, Z:0.03 [[ 9.99999069e-01 -1.36426989e-03 0.00000000e+00 9.21809541e+01] [ 1.36426989e-03 9.99999069e-01 0.00000000e+00 1.47535058e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77129067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.585336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.21, Y:0.15, Z:0.03 [[ 9.99998413e-01 1.78136240e-03 0.00000000e+00 9.22108266e+01] [-1.78136240e-03 9.99998413e-01 0.00000000e+00 1.49405354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60309993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.24, Y:0.15, Z:0.03 [[ 9.99977981e-01 6.63614731e-03 0.00000000e+00 9.22394567e+01] [-6.63614731e-03 9.99977981e-01 0.00000000e+00 1.54275636e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10250478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.645336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.27, Y:0.16, Z:0.03 [[ 9.99940259e-01 1.09306087e-02 0.00000000e+00 9.22679194e+01] [-1.09306087e-02 9.99940259e-01 0.00000000e+00 1.59719454e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49842848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.29, Y:0.16, Z:0.03 [[ 9.99871241e-01 1.60468623e-02 0.00000000e+00 9.22945395e+01] [-1.60468623e-02 9.99871241e-01 0.00000000e+00 1.63319442e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44232956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.32, Y:0.17, Z:0.03 [[ 9.99840616e-01 1.78533597e-02 0.00000000e+00 9.23219431e+01] [-1.78533597e-02 9.99840616e-01 0.00000000e+00 1.67117639e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40091854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.35, Y:0.17, Z:0.03 [[ 9.99790946e-01 2.04466396e-02 0.00000000e+00 9.23490436e+01] [-2.04466396e-02 9.99790946e-01 0.00000000e+00 1.74471840e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19342401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.38, Y:0.18, Z:0.03 [[ 9.99771457e-01 2.13783352e-02 0.00000000e+00 9.23769113e+01] [-2.13783352e-02 9.99771457e-01 0.00000000e+00 1.81681508e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30895042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79533619499999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:92.40, Y:0.19, Z:0.03 [[ 9.99744222e-01 2.26161377e-02 0.00000000e+00 9.24043501e+01] [-2.26161377e-02 9.99744222e-01 0.00000000e+00 1.89943231e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41683802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82533619499999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:92.43, Y:0.19, Z:0.03 [[ 9.99741334e-01 2.27434744e-02 0.00000000e+00 9.24320971e+01] [-2.27434744e-02 9.99741334e-01 0.00000000e+00 1.92556677e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25169618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.46, Y:0.20, Z:0.03 [[ 9.99732463e-01 2.31301174e-02 0.00000000e+00 9.24594929e+01] [-2.31301174e-02 9.99732463e-01 0.00000000e+00 1.99661848e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92974677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.885336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:92.49, Y:0.22, Z:0.03 [[ 9.99784404e-01 2.07640640e-02 0.00000000e+00 9.24865609e+01] [-2.07640640e-02 9.99784404e-01 0.00000000e+00 2.15493810e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17198012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.915336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:92.51, Y:0.23, Z:0.04 [[ 9.99863870e-01 1.64997416e-02 0.00000000e+00 9.25137163e+01] [-1.64997416e-02 9.99863870e-01 0.00000000e+00 2.27214558e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72783297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.945336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:92.54, Y:0.23, Z:0.04 [[ 9.99894139e-01 1.45502786e-02 0.00000000e+00 9.25408457e+01] [-1.45502786e-02 9.99894139e-01 0.00000000e+00 2.31727937e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71443095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.57, Y:0.24, Z:0.03 [[ 9.99945843e-01 1.04072704e-02 0.00000000e+00 9.25683707e+01] [-1.04072704e-02 9.99945843e-01 0.00000000e+00 2.35234545e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18906294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.005336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:92.60, Y:0.24, Z:0.03 [[ 9.99985819e-01 5.32561679e-03 0.00000000e+00 9.25961045e+01] [-5.32561679e-03 9.99985819e-01 0.00000000e+00 2.43875231e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34024164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.035336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:92.62, Y:0.25, Z:0.04 [[ 9.99998675e-01 1.62759135e-03 0.00000000e+00 9.26237095e+01] [-1.62759135e-03 9.99998675e-01 0.00000000e+00 2.52849250e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69856107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.065336195 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:92.65, Y:0.26, Z:0.04 [[ 9.99970662e-01 -7.65993045e-03 0.00000000e+00 9.26524324e+01] [ 7.65993045e-03 9.99970662e-01 0.00000000e+00 2.64582908e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71698256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.095336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:92.68, Y:0.27, Z:0.03 [[ 9.99925927e-01 -1.21713269e-02 0.00000000e+00 9.26842768e+01] [ 1.21713269e-02 9.99925927e-01 0.00000000e+00 2.65471684e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25919018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12533619499999 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:92.72, Y:0.26, Z:0.03 [[ 9.99782515e-01 -2.08547877e-02 0.00000000e+00 9.27173178e+01] [ 2.08547877e-02 9.99782515e-01 0.00000000e+00 2.60629208e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65801919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.75, Y:0.26, Z:0.03 [[ 9.99694375e-01 -2.47215764e-02 0.00000000e+00 9.27494152e+01] [ 2.47215764e-02 9.99694375e-01 0.00000000e+00 2.62674844e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93387017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.78, Y:0.27, Z:0.04 [[ 9.99556890e-01 -2.97661646e-02 0.00000000e+00 9.27814259e+01] [ 2.97661646e-02 9.99556890e-01 0.00000000e+00 2.65347820e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50574045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21533619499999 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:92.81, Y:0.27, Z:0.04 [[ 9.99463555e-01 -3.27505964e-02 0.00000000e+00 9.28142754e+01] [ 3.27505964e-02 9.99463555e-01 0.00000000e+00 2.65898587e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52959848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.245336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.85, Y:0.26, Z:0.04 [[ 9.99456937e-01 -3.29519564e-02 0.00000000e+00 9.28480698e+01] [ 3.29519564e-02 9.99456937e-01 0.00000000e+00 2.64905237e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02161642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.275336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:92.88, Y:0.27, Z:0.04 [[ 9.99497749e-01 -3.16899006e-02 0.00000000e+00 9.28797878e+01] [ 3.16899006e-02 9.99497749e-01 0.00000000e+00 2.66685556e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23019102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.305336195 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:92.91, Y:0.27, Z:0.04 [[ 9.99650942e-01 -2.64195847e-02 0.00000000e+00 9.29121390e+01] [ 2.64195847e-02 9.99650942e-01 0.00000000e+00 2.66609408e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04244427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.335336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.94, Y:0.27, Z:0.04 [[ 9.99738532e-01 -2.28662908e-02 0.00000000e+00 9.29449105e+01] [ 2.28662908e-02 9.99738532e-01 0.00000000e+00 2.66466020e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74587562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.98, Y:0.27, Z:0.03 [[ 9.99863444e-01 -1.65255405e-02 0.00000000e+00 9.29759441e+01] [ 1.65255405e-02 9.99863444e-01 0.00000000e+00 2.66569877e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17918218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.395336195 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:93.01, Y:0.27, Z:0.03 [[ 9.99913547e-01 -1.31491018e-02 0.00000000e+00 9.30082098e+01] [ 1.31491018e-02 9.99913547e-01 0.00000000e+00 2.71506061e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35959524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.425336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:93.04, Y:0.28, Z:0.04 [[ 9.99966683e-01 -8.16293030e-03 0.00000000e+00 9.30396992e+01] [ 8.16293030e-03 9.99966683e-01 0.00000000e+00 2.75787377e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89962291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.455336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.07, Y:0.28, Z:0.04 [[ 9.99980429e-01 -6.25627483e-03 0.00000000e+00 9.30722721e+01] [ 6.25627483e-03 9.99980429e-01 0.00000000e+00 2.75452566e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92075000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48533619499999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:93.10, Y:0.27, Z:0.04 [[ 9.99999733e-01 -7.30801084e-04 0.00000000e+00 9.31046059e+01] [ 7.30801084e-04 9.99999733e-01 0.00000000e+00 2.70529996e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71359000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.14, Y:0.27, Z:0.04 [[ 9.99993080e-01 3.72010771e-03 0.00000000e+00 9.31351272e+01] [-3.72010771e-03 9.99993080e-01 0.00000000e+00 2.72050331e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15011422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.16, Y:0.27, Z:0.04 [[ 9.99989436e-01 4.59649310e-03 0.00000000e+00 9.31638705e+01] [-4.59649310e-03 9.99989436e-01 0.00000000e+00 2.73784904e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18726684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.19, Y:0.27, Z:0.04 [[ 9.99990255e-01 4.41463727e-03 0.00000000e+00 9.31933755e+01] [-4.41463727e-03 9.99990255e-01 0.00000000e+00 2.70371962e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56061115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.22, Y:0.27, Z:0.03 [[ 9.99995231e-01 3.08835315e-03 0.00000000e+00 9.32222886e+01] [-3.08835315e-03 9.99995231e-01 0.00000000e+00 2.69678133e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38600801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.25, Y:0.27, Z:0.03 [[ 9.99999964e-01 -2.66490565e-04 0.00000000e+00 9.32504773e+01] [ 2.66490565e-04 9.99999964e-01 0.00000000e+00 2.69642128e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48345237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.665336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:93.28, Y:0.27, Z:0.04 [[ 9.99997603e-01 -2.18964184e-03 0.00000000e+00 9.32813371e+01] [ 2.18964184e-03 9.99997603e-01 0.00000000e+00 2.71412557e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50859855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.695336195 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:93.31, Y:0.27, Z:0.03 [[ 9.99989858e-01 -4.50369178e-03 0.00000000e+00 9.33131457e+01] [ 4.50369178e-03 9.99989858e-01 0.00000000e+00 2.66329137e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41010722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.725336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:93.34, Y:0.26, Z:0.03 [[ 9.99989977e-01 -4.47737051e-03 0.00000000e+00 9.33449817e+01] [ 4.47737051e-03 9.99989977e-01 0.00000000e+00 2.63730128e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30520305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.38, Y:0.26, Z:0.03 [[ 9.99993403e-01 -3.63247623e-03 0.00000000e+00 9.33777849e+01] [ 3.63247623e-03 9.99993403e-01 0.00000000e+00 2.57226472e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23583547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.785336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:93.41, Y:0.25, Z:0.03 [[ 9.99996933e-01 -2.47686073e-03 0.00000000e+00 9.34091965e+01] [ 2.47686073e-03 9.99996933e-01 0.00000000e+00 2.53844824e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46996388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.815336195 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:93.44, Y:0.26, Z:0.04 [[ 9.99998551e-01 -1.70224692e-03 0.00000000e+00 9.34400896e+01] [ 1.70224692e-03 9.99998551e-01 0.00000000e+00 2.55373615e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57031774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.845336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.47, Y:0.26, Z:0.04 [[ 9.99999987e-01 -1.58327146e-04 0.00000000e+00 9.34713429e+01] [ 1.58327146e-04 9.99999987e-01 0.00000000e+00 2.56390563e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60274785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.50, Y:0.26, Z:0.03 [[ 9.99999769e-01 6.79622758e-04 0.00000000e+00 9.35025396e+01] [-6.79622758e-04 9.99999769e-01 0.00000000e+00 2.55644604e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44339555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.53, Y:0.25, Z:0.03 [[ 9.99999887e-01 4.75499049e-04 0.00000000e+00 9.35337148e+01] [-4.75499049e-04 9.99999887e-01 0.00000000e+00 2.46011742e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05505499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.56, Y:0.24, Z:0.03 [[ 9.99999978e-01 -2.09280328e-04 0.00000000e+00 9.35649220e+01] [ 2.09280328e-04 9.99999978e-01 0.00000000e+00 2.39193217e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14598706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96533619499999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:93.60, Y:0.24, Z:0.03 [[ 9.99999998e-01 -6.79281572e-05 0.00000000e+00 9.35953867e+01] [ 6.79281572e-05 9.99999998e-01 0.00000000e+00 2.38616066e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20398036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.63, Y:0.24, Z:0.03 [[ 9.99999911e-01 4.21781267e-04 0.00000000e+00 9.36256205e+01] [-4.21781267e-04 9.99999911e-01 0.00000000e+00 2.38555535e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37841060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.66, Y:0.24, Z:0.04 [[ 9.99999129e-01 1.32010862e-03 0.00000000e+00 9.36560321e+01] [-1.32010862e-03 9.99999129e-01 0.00000000e+00 2.37934525e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79673406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.69, Y:0.23, Z:0.04 [[ 9.99998762e-01 1.57354410e-03 0.00000000e+00 9.36858752e+01] [-1.57354410e-03 9.99998762e-01 0.00000000e+00 2.32557521e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56350102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.72, Y:0.23, Z:0.03 [[ 9.99999548e-01 9.50759216e-04 0.00000000e+00 9.37159651e+01] [-9.50759216e-04 9.99999548e-01 0.00000000e+00 2.29421040e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31197860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.75, Y:0.22, Z:0.04 [[ 9.99999515e-01 -9.85173349e-04 0.00000000e+00 9.37464842e+01] [ 9.85173349e-04 9.99999515e-01 0.00000000e+00 2.22973875e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54176416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.145336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.78, Y:0.22, Z:0.04 [[ 9.99998831e-01 -1.52872461e-03 0.00000000e+00 9.37778202e+01] [ 1.52872461e-03 9.99998831e-01 0.00000000e+00 2.22013750e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80787073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.175336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.81, Y:0.22, Z:0.04 [[ 9.99998764e-01 -1.57257505e-03 0.00000000e+00 9.38091837e+01] [ 1.57257505e-03 9.99998764e-01 0.00000000e+00 2.17136716e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83458963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.205336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:93.84, Y:0.21, Z:0.04 [[ 9.99999827e-01 -5.87440403e-04 0.00000000e+00 9.38400206e+01] [ 5.87440403e-04 9.99999827e-01 0.00000000e+00 2.12630797e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09715180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23533619499999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:93.87, Y:0.21, Z:0.04 [[ 9.99999999e-01 5.24422111e-05 0.00000000e+00 9.38705382e+01] [-5.24422111e-05 9.99999999e-01 0.00000000e+00 2.13338053e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15511260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26533619499999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:93.90, Y:0.22, Z:0.04 [[ 9.99999999e-01 5.24422111e-05 0.00000000e+00 9.39014125e+01] [-5.24422111e-05 9.99999999e-01 0.00000000e+00 2.16126351e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15511260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.93, Y:0.21, Z:0.03 [[ 9.99999149e-01 1.30458577e-03 0.00000000e+00 9.39323554e+01] [-1.30458577e-03 9.99999149e-01 0.00000000e+00 2.12882703e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22826173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:0.21, Z:0.03 [[ 9.99998378e-01 1.80137832e-03 0.00000000e+00 9.39624984e+01] [-1.80137832e-03 9.99998378e-01 0.00000000e+00 2.10866950e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91536878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:0.20, Z:0.03 [[ 9.99995114e-01 3.12616440e-03 0.00000000e+00 9.39930343e+01] [-3.12616440e-03 9.99995114e-01 0.00000000e+00 2.01649802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65376719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.02, Y:0.20, Z:0.03 [[ 9.99993214e-01 3.68410687e-03 0.00000000e+00 9.40220501e+01] [-3.68410687e-03 9.99993214e-01 0.00000000e+00 1.98680550e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70057188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.415336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:94.05, Y:0.20, Z:0.03 [[ 9.99988108e-01 4.87689455e-03 0.00000000e+00 9.40515315e+01] [-4.87689455e-03 9.99988108e-01 0.00000000e+00 1.95728774e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33264411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.445336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:94.08, Y:0.20, Z:0.05 [[ 9.99982733e-01 5.87647245e-03 0.00000000e+00 9.40807874e+01] [-5.87647245e-03 9.99982733e-01 0.00000000e+00 1.96308649e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83593709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.475336195 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:94.11, Y:0.20, Z:0.05 [[ 9.99975974e-01 6.93196650e-03 0.00000000e+00 9.41089820e+01] [-6.93196650e-03 9.99975974e-01 0.00000000e+00 1.96328994e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20941057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.505336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:94.14, Y:0.19, Z:0.05 [[ 9.99966268e-01 8.21352372e-03 0.00000000e+00 9.41377059e+01] [-8.21352372e-03 9.99966268e-01 0.00000000e+00 1.94759334e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80886362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.17, Y:0.18, Z:0.03 [[ 9.99950576e-01 9.94215275e-03 0.00000000e+00 9.41669348e+01] [-9.94215275e-03 9.99950576e-01 0.00000000e+00 1.83620578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85018889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.20, Y:0.18, Z:0.03 [[ 9.99936448e-01 1.12738414e-02 0.00000000e+00 9.41953648e+01] [-1.12738414e-02 9.99936448e-01 0.00000000e+00 1.81099541e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72982122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.595336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.22, Y:0.19, Z:0.03 [[ 9.99928745e-01 1.19375658e-02 0.00000000e+00 9.42233266e+01] [-1.19375658e-02 9.99928745e-01 0.00000000e+00 1.86491982e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34344753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62533619499999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:94.25, Y:0.19, Z:0.04 [[ 9.99925670e-01 1.21923613e-02 0.00000000e+00 9.42508417e+01] [-1.21923613e-02 9.99925670e-01 0.00000000e+00 1.91895550e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88894263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.28, Y:0.19, Z:0.04 [[ 9.99924677e-01 1.22735495e-02 0.00000000e+00 9.42797668e+01] [-1.22735495e-02 9.99924677e-01 0.00000000e+00 1.89749140e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75623642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.31, Y:0.18, Z:0.03 [[ 9.99930664e-01 1.17756674e-02 0.00000000e+00 9.43085029e+01] [-1.17756674e-02 9.99930664e-01 0.00000000e+00 1.78401855e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19703931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.34, Y:0.17, Z:0.03 [[ 9.99951551e-01 9.84356711e-03 0.00000000e+00 9.43384280e+01] [-9.84356711e-03 9.99951551e-01 0.00000000e+00 1.72236056e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66565852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.37, Y:0.17, Z:0.03 [[ 9.99965098e-01 8.35483438e-03 0.00000000e+00 9.43663305e+01] [-8.35483438e-03 9.99965098e-01 0.00000000e+00 1.73580719e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57966331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.39, Y:0.18, Z:0.03 [[ 9.99996182e-01 2.76325771e-03 0.00000000e+00 9.43949307e+01] [-2.76325771e-03 9.99996182e-01 0.00000000e+00 1.76172682e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79824480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.42, Y:0.18, Z:0.03 [[ 9.99999920e-01 -3.99142185e-04 0.00000000e+00 9.44242209e+01] [ 3.99142185e-04 9.99999920e-01 0.00000000e+00 1.75989066e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83090159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.46, Y:0.17, Z:0.03 [[ 9.99989192e-01 -4.64931149e-03 0.00000000e+00 9.44560179e+01] [ 4.64931149e-03 9.99989192e-01 0.00000000e+00 1.66411425e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19919100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.865336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.49, Y:0.16, Z:0.04 [[ 9.99986583e-01 -5.18017742e-03 0.00000000e+00 9.44884257e+01] [ 5.18017742e-03 9.99986583e-01 0.00000000e+00 1.62515039e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52115218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.895336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.52, Y:0.15, Z:0.04 [[ 9.99987059e-01 -5.08743487e-03 0.00000000e+00 9.45211170e+01] [ 5.08743487e-03 9.99987059e-01 0.00000000e+00 1.54687677e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75743418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.55, Y:0.15, Z:0.03 [[ 9.99988669e-01 -4.76040863e-03 0.00000000e+00 9.45524927e+01] [ 4.76040863e-03 9.99988669e-01 0.00000000e+00 1.53003609e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46919089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.58, Y:0.15, Z:0.03 [[ 9.99997023e-01 -2.44027125e-03 0.00000000e+00 9.45841826e+01] [ 2.44027125e-03 9.99997023e-01 0.00000000e+00 1.52818543e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16860493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.62, Y:0.16, Z:0.03 [[ 9.99997453e-01 2.25681742e-03 0.00000000e+00 9.46158259e+01] [-2.25681742e-03 9.99997453e-01 0.00000000e+00 1.55213364e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45602548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.65, Y:0.15, Z:0.03 [[ 9.99975215e-01 7.04058443e-03 0.00000000e+00 9.46457391e+01] [-7.04058443e-03 9.99975215e-01 0.00000000e+00 1.48575120e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77500673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.67, Y:0.15, Z:0.02 [[ 9.99952438e-01 9.75306171e-03 0.00000000e+00 9.46737712e+01] [-9.75306171e-03 9.99952438e-01 0.00000000e+00 1.45096372e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39660341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.70, Y:0.14, Z:0.03 [[ 9.99889120e-01 1.48911869e-02 0.00000000e+00 9.47032152e+01] [-1.48911869e-02 9.99889120e-01 0.00000000e+00 1.41950431e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78889008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.73, Y:0.15, Z:0.03 [[ 9.99861493e-01 1.66431832e-02 0.00000000e+00 9.47317055e+01] [-1.66431832e-02 9.99861493e-01 0.00000000e+00 1.46328337e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26378514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.76, Y:0.15, Z:0.04 [[ 9.99818445e-01 1.90545994e-02 0.00000000e+00 9.47597864e+01] [-1.90545994e-02 9.99818445e-01 0.00000000e+00 1.54285779e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06416997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.79, Y:0.16, Z:0.04 [[ 9.99808205e-01 1.95845202e-02 0.00000000e+00 9.47873220e+01] [-1.95845202e-02 9.99808205e-01 0.00000000e+00 1.57572579e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21212298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.82, Y:0.15, Z:0.03 [[ 9.99806557e-01 1.96684600e-02 0.00000000e+00 9.48159261e+01] [-1.96684600e-02 9.99806557e-01 0.00000000e+00 1.54394379e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38640181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:0.15, Z:0.03 [[ 9.99816605e-01 1.91508637e-02 0.00000000e+00 9.48447123e+01] [-1.91508637e-02 9.99816605e-01 0.00000000e+00 1.51769729e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82646091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.87, Y:0.15, Z:0.02 [[ 9.99858986e-01 1.67931066e-02 0.00000000e+00 9.48741526e+01] [-1.67931066e-02 9.99858986e-01 0.00000000e+00 1.48656584e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34978294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.90, Y:0.16, Z:0.02 [[ 9.99899219e-01 1.41969117e-02 0.00000000e+00 9.49009433e+01] [-1.41969117e-02 9.99899219e-01 0.00000000e+00 1.56444505e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33526560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.93, Y:0.16, Z:0.02 [[ 9.99922032e-01 1.24871555e-02 0.00000000e+00 9.49294172e+01] [-1.24871555e-02 9.99922032e-01 0.00000000e+00 1.63101171e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46549884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.345336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:0.17, Z:0.03 [[ 9.99958005e-01 9.16450129e-03 0.00000000e+00 9.49570830e+01] [-9.16450129e-03 9.99958005e-01 0.00000000e+00 1.70287705e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36166988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.99, Y:0.17, Z:0.04 [[ 9.99987584e-01 4.98324045e-03 0.00000000e+00 9.49862991e+01] [-4.98324045e-03 9.99987584e-01 0.00000000e+00 1.71222276e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76209788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.01, Y:0.17, Z:0.04 [[ 9.99997439e-01 2.26308916e-03 0.00000000e+00 9.50141640e+01] [-2.26308916e-03 9.99997439e-01 0.00000000e+00 1.71586749e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54436680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.04, Y:0.17, Z:0.03 [[ 9.99990220e-01 -4.42262536e-03 0.00000000e+00 9.50434515e+01] [ 4.42262536e-03 9.99990220e-01 0.00000000e+00 1.71724786e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25306876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.08, Y:0.17, Z:0.03 [[ 9.99974131e-01 -7.19292655e-03 0.00000000e+00 9.50753732e+01] [ 7.19292655e-03 9.99974131e-01 0.00000000e+00 1.74350903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14387733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.495336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.11, Y:0.18, Z:0.03 [[ 9.99925502e-01 -1.22061585e-02 0.00000000e+00 9.51076654e+01] [ 1.22061585e-02 9.99925502e-01 0.00000000e+00 1.80491113e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02733755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.14, Y:0.19, Z:0.03 [[ 9.99893850e-01 -1.45701107e-02 0.00000000e+00 9.51380635e+01] [ 1.45701107e-02 9.99893850e-01 0.00000000e+00 1.85316292e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10253337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.17, Y:0.19, Z:0.03 [[ 9.99830555e-01 -1.84081997e-02 0.00000000e+00 9.51702513e+01] [ 1.84081997e-02 9.99830555e-01 0.00000000e+00 1.86089205e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15527156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.20, Y:0.18, Z:0.03 [[ 9.99828946e-01 -1.84953612e-02 0.00000000e+00 9.52031441e+01] [ 1.84953612e-02 9.99828946e-01 0.00000000e+00 1.82155056e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11932771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.615336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.23, Y:0.18, Z:0.03 [[ 9.99843464e-01 -1.76931520e-02 0.00000000e+00 9.52349861e+01] [ 1.76931520e-02 9.99843464e-01 0.00000000e+00 1.82282728e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10441734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:0.18, Z:0.03 [[ 9.99884632e-01 -1.51895350e-02 0.00000000e+00 9.52664571e+01] [ 1.51895350e-02 9.99884632e-01 0.00000000e+00 1.83069311e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09977635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.30, Y:0.19, Z:0.03 [[ 9.99900909e-01 -1.40773446e-02 0.00000000e+00 9.52986708e+01] [ 1.40773446e-02 9.99900909e-01 0.00000000e+00 1.87285425e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27805296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:0.19, Z:0.04 [[ 9.99918117e-01 -1.27968628e-02 0.00000000e+00 9.53301176e+01] [ 1.27968628e-02 9.99918117e-01 0.00000000e+00 1.92718663e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52029849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73533619499999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:95.36, Y:0.19, Z:0.03 [[ 9.99925516e-01 -1.22050173e-02 0.00000000e+00 9.53611955e+01] [ 1.22050173e-02 9.99925516e-01 0.00000000e+00 1.92143671e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14268590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.39, Y:0.19, Z:0.03 [[ 9.99935419e-01 -1.13648021e-02 0.00000000e+00 9.53922939e+01] [ 1.13648021e-02 9.99935419e-01 0.00000000e+00 1.91352526e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84480395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:0.19, Z:0.02 [[ 9.99954909e-01 -9.49631080e-03 0.00000000e+00 9.54248713e+01] [ 9.49631080e-03 9.99954909e-01 0.00000000e+00 1.89034962e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35979607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.46, Y:0.19, Z:0.03 [[ 9.99973306e-01 -7.30664941e-03 0.00000000e+00 9.54556324e+01] [ 7.30664941e-03 9.99973306e-01 0.00000000e+00 1.88942739e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92744977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:0.19, Z:0.03 [[ 9.99981726e-01 -6.04538873e-03 0.00000000e+00 9.54877590e+01] [ 6.04538873e-03 9.99981726e-01 0.00000000e+00 1.91690267e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43081834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.52, Y:0.20, Z:0.04 [[ 9.99991257e-01 -4.18171794e-03 0.00000000e+00 9.55184274e+01] [ 4.18171794e-03 9.99991257e-01 0.00000000e+00 1.96532746e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57646959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.55, Y:0.20, Z:0.03 [[ 9.99991609e-01 -4.09655009e-03 0.00000000e+00 9.55508168e+01] [ 4.09655009e-03 9.99991609e-01 0.00000000e+00 2.00356766e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30070135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:0.20, Z:0.03 [[ 9.99989133e-01 -4.66206581e-03 0.00000000e+00 9.55823037e+01] [ 4.66206581e-03 9.99989133e-01 0.00000000e+00 2.03780144e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78061119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.61, Y:0.21, Z:0.02 [[ 9.99985952e-01 -5.30050996e-03 0.00000000e+00 9.56131763e+01] [ 5.30050996e-03 9.99985952e-01 0.00000000e+00 2.05323141e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47490508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:0.20, Z:0.02 [[ 9.99977031e-01 -6.77777516e-03 0.00000000e+00 9.56447938e+01] [ 6.77777516e-03 9.99977031e-01 0.00000000e+00 2.04887885e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87564891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.68, Y:0.21, Z:0.02 [[ 9.99968714e-01 -7.91022511e-03 0.00000000e+00 9.56773832e+01] [ 7.91022511e-03 9.99968714e-01 0.00000000e+00 2.07546131e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85892866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:0.21, Z:0.03 [[ 9.99922218e-01 -1.24722474e-02 0.00000000e+00 9.57085852e+01] [ 1.24722474e-02 9.99922218e-01 0.00000000e+00 2.14073092e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75134231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.095336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:0.22, Z:0.04 [[ 9.99841645e-01 -1.77956247e-02 0.00000000e+00 9.57399011e+01] [ 1.77956247e-02 9.99841645e-01 0.00000000e+00 2.18312305e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90583750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.77, Y:0.22, Z:0.04 [[ 9.99789424e-01 -2.05208937e-02 0.00000000e+00 9.57716653e+01] [ 2.05208937e-02 9.99789424e-01 0.00000000e+00 2.18619698e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86927526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:0.22, Z:0.03 [[ 9.99646666e-01 -2.65808763e-02 0.00000000e+00 9.58047855e+01] [ 2.65808763e-02 9.99646666e-01 0.00000000e+00 2.15533471e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43599620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:0.22, Z:0.03 [[ 9.99648595e-01 -2.65082351e-02 0.00000000e+00 9.58381970e+01] [ 2.65082351e-02 9.99648595e-01 0.00000000e+00 2.18413499e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43599620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.87, Y:0.22, Z:0.03 [[ 9.99562938e-01 -2.95623475e-02 0.00000000e+00 9.58714892e+01] [ 2.95623475e-02 9.99562938e-01 0.00000000e+00 2.19793118e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26999525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.90, Y:0.22, Z:0.03 [[ 9.99394498e-01 -3.47942024e-02 0.00000000e+00 9.59036606e+01] [ 3.47942024e-02 9.99394498e-01 0.00000000e+00 2.19343362e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72232146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:0.22, Z:0.02 [[ 9.99308921e-01 -3.71709527e-02 0.00000000e+00 9.59361364e+01] [ 3.71709527e-02 9.99308921e-01 0.00000000e+00 2.18424800e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43308819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.305336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.97, Y:0.21, Z:0.02 [[ 9.99142241e-01 -4.14099342e-02 0.00000000e+00 9.59682877e+01] [ 4.14099342e-02 9.99142241e-01 0.00000000e+00 2.13226270e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39064842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.00, Y:0.21, Z:0.03 [[ 9.99084718e-01 -4.27753108e-02 0.00000000e+00 9.59991335e+01] [ 4.27753108e-02 9.99084718e-01 0.00000000e+00 2.12643135e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58038117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.365336195 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:96.03, Y:0.21, Z:0.03 [[ 9.99034179e-01 -4.39398445e-02 0.00000000e+00 9.60310645e+01] [ 4.39398445e-02 9.99034179e-01 0.00000000e+00 2.08142563e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01512188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.06, Y:0.20, Z:0.04 [[ 9.99131191e-01 -4.16756950e-02 0.00000000e+00 9.60636519e+01] [ 4.16756950e-02 9.99131191e-01 0.00000000e+00 2.02521468e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58894608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.10, Y:0.20, Z:0.04 [[ 9.99238247e-01 -3.90246914e-02 0.00000000e+00 9.60960819e+01] [ 3.90246914e-02 9.99238247e-01 0.00000000e+00 2.00299219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57877995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.13, Y:0.19, Z:0.03 [[ 9.99483973e-01 -3.21214511e-02 0.00000000e+00 9.61285089e+01] [ 3.21214511e-02 9.99483973e-01 0.00000000e+00 1.93128014e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39826653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:0.19, Z:0.03 [[ 9.99725341e-01 -2.34359174e-02 0.00000000e+00 9.61613118e+01] [ 2.34359174e-02 9.99725341e-01 0.00000000e+00 1.89264996e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11255817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.19, Y:0.19, Z:0.03 [[ 9.99796411e-01 -2.01776494e-02 0.00000000e+00 9.61930979e+01] [ 2.01776494e-02 9.99796411e-01 0.00000000e+00 1.88997345e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84464417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:0.18, Z:0.03 [[ 9.99894909e-01 -1.44972507e-02 0.00000000e+00 9.62260031e+01] [ 1.44972507e-02 9.99894909e-01 0.00000000e+00 1.84161592e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91379679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.26, Y:0.18, Z:0.03 [[ 9.99932417e-01 -1.16258641e-02 0.00000000e+00 9.62574421e+01] [ 1.16258641e-02 9.99932417e-01 0.00000000e+00 1.82455850e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03595619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.29, Y:0.17, Z:0.03 [[ 9.99967664e-01 -8.04188027e-03 0.00000000e+00 9.62895028e+01] [ 8.04188027e-03 9.99967664e-01 0.00000000e+00 1.74522503e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22218853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.32, Y:0.17, Z:0.04 [[ 9.99981738e-01 -6.04345248e-03 0.00000000e+00 9.63214105e+01] [ 6.04345248e-03 9.99981738e-01 0.00000000e+00 1.68606113e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62860963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.35, Y:0.17, Z:0.04 [[ 9.99987022e-01 -5.09473855e-03 0.00000000e+00 9.63526659e+01] [ 5.09473855e-03 9.99987022e-01 0.00000000e+00 1.67673881e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65966419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.38, Y:0.16, Z:0.04 [[ 9.99991403e-01 -4.14655358e-03 0.00000000e+00 9.63841493e+01] [ 4.14655358e-03 9.99991403e-01 0.00000000e+00 1.62999104e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72174147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.42, Y:0.16, Z:0.04 [[ 9.99993817e-01 -3.51641399e-03 0.00000000e+00 9.64156585e+01] [ 3.51641399e-03 9.99993817e-01 0.00000000e+00 1.61746429e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77683317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.45, Y:0.15, Z:0.03 [[ 9.99997090e-01 -2.41256879e-03 0.00000000e+00 9.64480997e+01] [ 2.41256879e-03 9.99997090e-01 0.00000000e+00 1.53585066e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35130618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.785336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.48, Y:0.15, Z:0.03 [[ 9.99994643e-01 -3.27309487e-03 0.00000000e+00 9.64798749e+01] [ 3.27309487e-03 9.99994643e-01 0.00000000e+00 1.46532239e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44683304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.51, Y:0.14, Z:0.04 [[ 9.99991190e-01 -4.19767944e-03 0.00000000e+00 9.65105249e+01] [ 4.19767944e-03 9.99991190e-01 0.00000000e+00 1.44408445e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62324729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.845336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:96.54, Y:0.14, Z:0.03 [[ 9.99979412e-01 -6.41677011e-03 0.00000000e+00 9.65429350e+01] [ 6.41677011e-03 9.99979412e-01 0.00000000e+00 1.37877997e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44328044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.58, Y:0.14, Z:0.03 [[ 9.99977091e-01 -6.76884769e-03 0.00000000e+00 9.65751083e+01] [ 6.76884769e-03 9.99977091e-01 0.00000000e+00 1.36808627e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27198386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.61, Y:0.13, Z:0.03 [[ 9.99985651e-01 -5.35695408e-03 0.00000000e+00 9.66068596e+01] [ 5.35695408e-03 9.99985651e-01 0.00000000e+00 1.27535601e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93093115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:0.12, Z:0.03 [[ 9.99993505e-01 -3.60416759e-03 0.00000000e+00 9.66390013e+01] [ 3.60416759e-03 9.99993505e-01 0.00000000e+00 1.19990885e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65920050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:0.12, Z:0.03 [[ 9.99998600e-01 -1.67317014e-03 0.00000000e+00 9.66699500e+01] [ 1.67317014e-03 9.99998600e-01 0.00000000e+00 1.20138292e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78114899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:0.12, Z:0.04 [[ 9.99988416e-01 4.81335039e-03 0.00000000e+00 9.67004657e+01] [-4.81335039e-03 9.99988416e-01 0.00000000e+00 1.16542018e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66297014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.73, Y:0.11, Z:0.04 [[ 9.99934587e-01 1.14377303e-02 0.00000000e+00 9.67292647e+01] [-1.14377303e-02 9.99934587e-01 0.00000000e+00 1.14160004e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75537605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.76, Y:0.12, Z:0.03 [[ 9.99900349e-01 1.41170807e-02 0.00000000e+00 9.67584413e+01] [-1.41170807e-02 9.99900349e-01 0.00000000e+00 1.15866711e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42204236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.79, Y:0.12, Z:0.03 [[ 9.99797678e-01 2.01147349e-02 0.00000000e+00 9.67862033e+01] [-2.01147349e-02 9.99797678e-01 0.00000000e+00 1.16194779e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02016068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:0.12, Z:0.03 [[ 9.99740138e-01 2.27959701e-02 0.00000000e+00 9.68144433e+01] [-2.27959701e-02 9.99740138e-01 0.00000000e+00 1.18832063e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08458656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.84, Y:0.12, Z:0.03 [[ 9.99698005e-01 2.45743592e-02 0.00000000e+00 9.68430495e+01] [-2.45743592e-02 9.99698005e-01 0.00000000e+00 1.20784838e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06284151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.87, Y:0.12, Z:0.03 [[ 9.99756501e-01 2.20666944e-02 0.00000000e+00 9.68711156e+01] [-2.20666944e-02 9.99756501e-01 0.00000000e+00 1.21713548e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04409903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.90, Y:0.12, Z:0.03 [[ 9.99805438e-01 1.97252755e-02 0.00000000e+00 9.68996400e+01] [-1.97252755e-02 9.99805438e-01 0.00000000e+00 1.24309541e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12070673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:0.13, Z:0.03 [[ 9.99920286e-01 1.26262071e-02 0.00000000e+00 9.69278618e+01] [-1.26262071e-02 9.99920286e-01 0.00000000e+00 1.25189690e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10212580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.96, Y:0.13, Z:0.04 [[ 9.99993873e-01 3.50068902e-03 0.00000000e+00 9.69577656e+01] [-3.50068902e-03 9.99993873e-01 0.00000000e+00 1.26527578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53640413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.99, Y:0.13, Z:0.04 [[ 9.99999997e-01 -7.36946322e-05 0.00000000e+00 9.69875324e+01] [ 7.36946322e-05 9.99999997e-01 0.00000000e+00 1.30056632e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56173037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:0.13, Z:0.03 [[ 9.99986029e-01 -5.28603877e-03 0.00000000e+00 9.70177296e+01] [ 5.28603877e-03 9.99986029e-01 0.00000000e+00 1.31760945e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18477501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.05, Y:0.13, Z:0.03 [[ 9.99971280e-01 -7.57889222e-03 0.00000000e+00 9.70488159e+01] [ 7.57889222e-03 9.99971280e-01 0.00000000e+00 1.32129303e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08951544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.08, Y:0.13, Z:0.03 [[ 9.99952659e-01 -9.73032776e-03 0.00000000e+00 9.70805627e+01] [ 9.73032776e-03 9.99952659e-01 0.00000000e+00 1.32302449e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21833626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.11, Y:0.14, Z:0.03 [[ 9.99957216e-01 -9.25015381e-03 0.00000000e+00 9.71108147e+01] [ 9.25015381e-03 9.99957216e-01 0.00000000e+00 1.35638948e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95918993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.14, Y:0.14, Z:0.03 [[ 9.99974509e-01 -7.14010856e-03 0.00000000e+00 9.71412280e+01] [ 7.14010856e-03 9.99974509e-01 0.00000000e+00 1.42559203e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65387605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.17, Y:0.15, Z:0.03 [[ 9.99987924e-01 -4.91446519e-03 0.00000000e+00 9.71725414e+01] [ 4.91446519e-03 9.99987924e-01 0.00000000e+00 1.47646886e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80082213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.20, Y:0.15, Z:0.03 [[ 9.99994184e-01 -3.41063970e-03 0.00000000e+00 9.72025810e+01] [ 3.41063970e-03 9.99994184e-01 0.00000000e+00 1.51222333e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93411500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.23, Y:0.16, Z:0.03 [[ 9.99999535e-01 9.64071058e-04 0.00000000e+00 9.72338999e+01] [-9.64071058e-04 9.99999535e-01 0.00000000e+00 1.58004394e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84143279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.26, Y:0.17, Z:0.03 [[ 9.99978234e-01 6.59784909e-03 0.00000000e+00 9.72636476e+01] [-6.59784909e-03 9.99978234e-01 0.00000000e+00 1.68686290e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79793096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.595336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.29, Y:0.18, Z:0.03 [[ 9.99962290e-01 8.68434473e-03 0.00000000e+00 9.72918859e+01] [-8.68434473e-03 9.99962290e-01 0.00000000e+00 1.75977030e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74414090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.32, Y:0.18, Z:0.02 [[ 9.99955346e-01 9.45014467e-03 0.00000000e+00 9.73198571e+01] [-9.45014467e-03 9.99955346e-01 0.00000000e+00 1.83954684e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32829705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:0.19, Z:0.02 [[ 9.99968834e-01 7.89499486e-03 0.00000000e+00 9.73496869e+01] [-7.89499486e-03 9.99968834e-01 0.00000000e+00 1.88271505e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27486409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.38, Y:0.20, Z:0.03 [[ 9.99999157e-01 1.29809700e-03 0.00000000e+00 9.73788034e+01] [-1.29809700e-03 9.99999157e-01 0.00000000e+00 1.99403728e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87651081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:0.21, Z:0.03 [[ 9.99967984e-01 -8.00190922e-03 0.00000000e+00 9.74079376e+01] [ 8.00190922e-03 9.99967984e-01 0.00000000e+00 2.08284301e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30493158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:0.21, Z:0.03 [[ 9.99918827e-01 -1.27412701e-02 0.00000000e+00 9.74392802e+01] [ 1.27412701e-02 9.99918827e-01 0.00000000e+00 2.10041041e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31009511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:0.21, Z:0.04 [[ 9.99751816e-01 -2.22779462e-02 0.00000000e+00 9.74728615e+01] [ 2.22779462e-02 9.99751816e-01 0.00000000e+00 2.10491487e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50948776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:0.21, Z:0.04 [[ 9.99640967e-01 -2.67943371e-02 0.00000000e+00 9.75051755e+01] [ 2.67943371e-02 9.99640967e-01 0.00000000e+00 2.14824333e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70324989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:0.22, Z:0.04 [[ 9.99479647e-01 -3.22557856e-02 0.00000000e+00 9.75370939e+01] [ 3.22557856e-02 9.99479647e-01 0.00000000e+00 2.22457108e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74130559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:0.23, Z:0.03 [[ 9.99441435e-01 -3.34188320e-02 0.00000000e+00 9.75695422e+01] [ 3.34188320e-02 9.99441435e-01 0.00000000e+00 2.25198669e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38935636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:0.22, Z:0.03 [[ 9.99397242e-01 -3.47153174e-02 0.00000000e+00 9.76016521e+01] [ 3.47153174e-02 9.99397242e-01 0.00000000e+00 2.20386948e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03343556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:0.22, Z:0.03 [[ 9.99365306e-01 -3.56228183e-02 0.00000000e+00 9.76329870e+01] [ 3.56228183e-02 9.99365306e-01 0.00000000e+00 2.21178393e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95992900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.66, Y:0.23, Z:0.03 [[ 9.99297335e-01 -3.74811450e-02 0.00000000e+00 9.76644110e+01] [ 3.74811450e-02 9.99297335e-01 0.00000000e+00 2.27386104e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25605817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:0.23, Z:0.03 [[ 9.99266244e-01 -3.83010952e-02 0.00000000e+00 9.76961134e+01] [ 3.83010952e-02 9.99266244e-01 0.00000000e+00 2.30079444e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30018423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.73, Y:0.22, Z:0.04 [[ 9.99254789e-01 -3.85987856e-02 0.00000000e+00 9.77277438e+01] [ 3.85987856e-02 9.99254789e-01 0.00000000e+00 2.23990642e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53123850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:0.22, Z:0.04 [[ 9.99300223e-01 -3.74040641e-02 0.00000000e+00 9.77601125e+01] [ 3.74040641e-02 9.99300223e-01 0.00000000e+00 2.21625047e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82875428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:0.22, Z:0.04 [[ 9.99302094e-01 -3.73540437e-02 0.00000000e+00 9.77926745e+01] [ 3.73540437e-02 9.99302094e-01 0.00000000e+00 2.24425533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82875428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.82, Y:0.22, Z:0.04 [[ 9.99417530e-01 -3.41262522e-02 0.00000000e+00 9.78240715e+01] [ 3.41262522e-02 9.99417530e-01 0.00000000e+00 2.20491775e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78711463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.86, Y:0.22, Z:0.03 [[ 9.99585563e-01 -2.87871869e-02 0.00000000e+00 9.78550268e+01] [ 2.87871869e-02 9.99585563e-01 0.00000000e+00 2.22223979e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09507962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.89, Y:0.23, Z:0.03 [[ 9.99721954e-01 -2.35799543e-02 0.00000000e+00 9.78874437e+01] [ 2.35799543e-02 9.99721954e-01 0.00000000e+00 2.26246458e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09257671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:0.23, Z:0.03 [[ 9.99763642e-01 -2.17407610e-02 0.00000000e+00 9.79191116e+01] [ 2.17407610e-02 9.99763642e-01 0.00000000e+00 2.27294886e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15521439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:0.23, Z:0.03 [[ 9.99803130e-01 -1.98419245e-02 0.00000000e+00 9.79504377e+01] [ 1.98419245e-02 9.99803130e-01 0.00000000e+00 2.26727249e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18689195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:0.22, Z:0.04 [[ 9.99857392e-01 -1.68877212e-02 0.00000000e+00 9.79833390e+01] [ 1.68877212e-02 9.99857392e-01 0.00000000e+00 2.20983329e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64852415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:0.22, Z:0.04 [[ 9.99866237e-01 -1.63556555e-02 0.00000000e+00 9.80155023e+01] [ 1.63556555e-02 9.99866237e-01 0.00000000e+00 2.19930416e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90393004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:0.22, Z:0.03 [[ 9.99839113e-01 -1.79373195e-02 0.00000000e+00 9.80461058e+01] [ 1.79373195e-02 9.99839113e-01 0.00000000e+00 2.22405471e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43705923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.345336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:0.22, Z:0.03 [[ 9.99806909e-01 -1.96505449e-02 0.00000000e+00 9.80773666e+01] [ 1.96505449e-02 9.99806909e-01 0.00000000e+00 2.24200849e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23095999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:0.22, Z:0.03 [[ 9.99725855e-01 -2.34140002e-02 0.00000000e+00 9.81097685e+01] [ 2.34140002e-02 9.99725855e-01 0.00000000e+00 2.19090102e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78786455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:0.21, Z:0.02 [[ 9.99688623e-01 -2.49531089e-02 0.00000000e+00 9.81411288e+01] [ 2.49531089e-02 9.99688623e-01 0.00000000e+00 2.14230357e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44643086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:0.20, Z:0.02 [[ 9.99610717e-01 -2.79000914e-02 0.00000000e+00 9.81741666e+01] [ 2.79000914e-02 9.99610717e-01 0.00000000e+00 2.04978129e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47210872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.21, Y:0.20, Z:0.03 [[ 9.99604824e-01 -2.81104177e-02 0.00000000e+00 9.82051752e+01] [ 2.81104177e-02 9.99604824e-01 0.00000000e+00 2.03135452e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02073317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:0.20, Z:0.03 [[ 9.99647217e-01 -2.65601486e-02 0.00000000e+00 9.82375284e+01] [ 2.65601486e-02 9.99647217e-01 0.00000000e+00 2.04548350e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37935100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:0.20, Z:0.04 [[ 9.99803590e-01 -1.98186917e-02 0.00000000e+00 9.82689544e+01] [ 1.98186917e-02 9.99803590e-01 0.00000000e+00 2.03627305e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61273570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:0.20, Z:0.04 [[ 9.99887505e-01 -1.49992736e-02 0.00000000e+00 9.83002927e+01] [ 1.49992736e-02 9.99887505e-01 0.00000000e+00 2.02839029e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63600938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:0.20, Z:0.03 [[ 9.99993966e-01 -3.47382413e-03 0.00000000e+00 9.83311926e+01] [ 3.47382413e-03 9.99993966e-01 0.00000000e+00 2.00890241e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43886493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:0.21, Z:0.03 [[ 9.99967753e-01 8.03075759e-03 0.00000000e+00 9.83607454e+01] [-8.03075759e-03 9.99967753e-01 0.00000000e+00 2.08960451e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31175910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.39, Y:0.21, Z:0.03 [[ 9.99922072e-01 1.24839934e-02 0.00000000e+00 9.83896434e+01] [-1.24839934e-02 9.99922072e-01 0.00000000e+00 2.14867008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10118605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:0.22, Z:0.03 [[ 9.99804106e-01 1.97926779e-02 0.00000000e+00 9.84174687e+01] [-1.97926779e-02 9.99804106e-01 0.00000000e+00 2.19086602e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70003976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:0.22, Z:0.03 [[ 9.99697644e-01 2.45890436e-02 0.00000000e+00 9.84464795e+01] [-2.45890436e-02 9.99697644e-01 0.00000000e+00 2.22957911e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96131436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.47, Y:0.23, Z:0.03 [[ 9.99688000e-01 2.49780449e-02 0.00000000e+00 9.84737331e+01] [-2.49780449e-02 9.99688000e-01 0.00000000e+00 2.28056250e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09934987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:0.24, Z:0.04 [[ 9.99753998e-01 2.21798157e-02 0.00000000e+00 9.85017601e+01] [-2.21798157e-02 9.99753998e-01 0.00000000e+00 2.39089170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52248245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:0.24, Z:0.03 [[ 9.99810829e-01 1.94501071e-02 0.00000000e+00 9.85301833e+01] [-1.94501071e-02 9.99810829e-01 0.00000000e+00 2.44610929e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49453143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:0.25, Z:0.03 [[ 9.99932044e-01 1.16579241e-02 0.00000000e+00 9.85573448e+01] [-1.16579241e-02 9.99932044e-01 0.00000000e+00 2.48363689e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98226469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:0.26, Z:0.03 [[ 9.99995757e-01 2.91296644e-03 0.00000000e+00 9.85865232e+01] [-2.91296644e-03 9.99995757e-01 0.00000000e+00 2.56970843e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76414419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.62, Y:0.26, Z:0.03 [[ 9.99999751e-01 -7.05890454e-04 0.00000000e+00 9.86155857e+01] [ 7.05890454e-04 9.99999751e-01 0.00000000e+00 2.62935961e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54134060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:0.27, Z:0.02 [[ 9.99981251e-01 -6.12358989e-03 0.00000000e+00 9.86460487e+01] [ 6.12358989e-03 9.99981251e-01 0.00000000e+00 2.66344103e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85243137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:0.27, Z:0.02 [[ 9.99952409e-01 -9.75604677e-03 0.00000000e+00 9.86774244e+01] [ 9.75604677e-03 9.99952409e-01 0.00000000e+00 2.67599994e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10944491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:0.27, Z:0.03 [[ 9.99872027e-01 -1.59978193e-02 0.00000000e+00 9.87075492e+01] [ 1.59978193e-02 9.99872027e-01 0.00000000e+00 2.74717713e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78029433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:0.28, Z:0.03 [[ 9.99810270e-01 -1.94788012e-02 0.00000000e+00 9.87395488e+01] [ 1.94788012e-02 9.99810270e-01 0.00000000e+00 2.81972050e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29391064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.77, Y:0.29, Z:0.04 [[ 9.99670741e-01 -2.56594953e-02 0.00000000e+00 9.87702901e+01] [ 2.56594953e-02 9.99670741e-01 0.00000000e+00 2.89666054e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56848377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:0.29, Z:0.03 [[ 9.99571106e-01 -2.92848789e-02 0.00000000e+00 9.88023766e+01] [ 2.92848789e-02 9.99571106e-01 0.00000000e+00 2.91644617e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30656407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.095336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:0.29, Z:0.03 [[ 9.99337311e-01 -3.63996981e-02 0.00000000e+00 9.88355045e+01] [ 3.63996981e-02 9.99337311e-01 0.00000000e+00 2.86263055e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89723984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.87, Y:0.29, Z:0.03 [[ 9.99207049e-01 -3.98154961e-02 0.00000000e+00 9.88672589e+01] [ 3.98154961e-02 9.99207049e-01 0.00000000e+00 2.85038164e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16307118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.90, Y:0.29, Z:0.03 [[ 9.99188253e-01 -4.02844216e-02 0.00000000e+00 9.88986752e+01] [ 4.02844216e-02 9.99188253e-01 0.00000000e+00 2.91101478e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37032856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:0.30, Z:0.03 [[ 9.99253357e-01 -3.86358388e-02 0.00000000e+00 9.89291922e+01] [ 3.86358388e-02 9.99253357e-01 0.00000000e+00 2.99694536e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22742440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:0.30, Z:0.03 [[ 9.99295015e-01 -3.75429366e-02 0.00000000e+00 9.89617732e+01] [ 3.75429366e-02 9.99295015e-01 0.00000000e+00 3.02050941e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91711303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:0.30, Z:0.02 [[ 9.99362138e-01 -3.57115931e-02 0.00000000e+00 9.89944524e+01] [ 3.57115931e-02 9.99362138e-01 0.00000000e+00 2.98229435e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35087357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:0.29, Z:0.02 [[ 9.99377469e-01 -3.52799386e-02 0.00000000e+00 9.90256048e+01] [ 3.52799386e-02 9.99377469e-01 0.00000000e+00 2.94292786e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30955053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:0.30, Z:0.03 [[ 9.99368303e-01 -3.55386402e-02 0.00000000e+00 9.90579503e+01] [ 3.55386402e-02 9.99368303e-01 0.00000000e+00 2.97741739e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93755859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:0.30, Z:0.03 [[ 9.99363840e-01 -3.56639261e-02 0.00000000e+00 9.90893190e+01] [ 3.56639261e-02 9.99363840e-01 0.00000000e+00 3.00704823e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22999380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.12, Y:0.30, Z:0.04 [[ 9.99326000e-01 -3.67089419e-02 0.00000000e+00 9.91222340e+01] [ 3.67089419e-02 9.99326000e-01 0.00000000e+00 2.97860284e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52584714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.15, Y:0.29, Z:0.03 [[ 9.99295589e-01 -3.75276680e-02 0.00000000e+00 9.91548208e+01] [ 3.75276680e-02 9.99295589e-01 0.00000000e+00 2.90487255e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45915411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.19, Y:0.29, Z:0.03 [[ 9.99298119e-01 -3.74602429e-02 0.00000000e+00 9.91860902e+01] [ 3.74602429e-02 9.99298119e-01 0.00000000e+00 2.90540285e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32632177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.22, Y:0.29, Z:0.03 [[ 9.99335116e-01 -3.64599092e-02 0.00000000e+00 9.92183734e+01] [ 3.64599092e-02 9.99335116e-01 0.00000000e+00 2.93835701e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28709292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.25, Y:0.29, Z:0.03 [[ 9.99385233e-01 -3.50593274e-02 0.00000000e+00 9.92506429e+01] [ 3.50593274e-02 9.99385233e-01 0.00000000e+00 2.94599609e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37403776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:0.28, Z:0.03 [[ 9.99494973e-01 -3.17773403e-02 0.00000000e+00 9.92837622e+01] [ 3.17773403e-02 9.99494973e-01 0.00000000e+00 2.84354049e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89527919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.32, Y:0.28, Z:0.03 [[ 9.99554647e-01 -2.98413750e-02 0.00000000e+00 9.93153043e+01] [ 2.98413750e-02 9.99554647e-01 0.00000000e+00 2.81465079e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74419554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:0.28, Z:0.03 [[ 9.99596827e-01 -2.83933546e-02 0.00000000e+00 9.93472142e+01] [ 2.83933546e-02 9.99596827e-01 0.00000000e+00 2.83896822e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14949051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:0.28, Z:0.03 [[ 9.99652343e-01 -2.63665320e-02 0.00000000e+00 9.93796957e+01] [ 2.63665320e-02 9.99652343e-01 0.00000000e+00 2.80018856e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22633726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:0.27, Z:0.03 [[ 9.99704609e-01 -2.43042084e-02 0.00000000e+00 9.94113700e+01] [ 2.43042084e-02 9.99704609e-01 0.00000000e+00 2.72446526e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99977640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:0.27, Z:0.03 [[ 9.99740349e-01 -2.27867041e-02 0.00000000e+00 9.94414904e+01] [ 2.27867041e-02 9.99740349e-01 0.00000000e+00 2.71127702e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80340431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.47, Y:0.27, Z:0.03 [[ 9.99815581e-01 -1.92042732e-02 0.00000000e+00 9.94730278e+01] [ 1.92042732e-02 9.99815581e-01 0.00000000e+00 2.65882182e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78781692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.50, Y:0.26, Z:0.03 [[ 9.99893687e-01 -1.45813081e-02 0.00000000e+00 9.95049307e+01] [ 1.45813081e-02 9.99893687e-01 0.00000000e+00 2.62799093e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76500951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.54, Y:0.26, Z:0.03 [[ 9.99932935e-01 -1.15812423e-02 0.00000000e+00 9.95351690e+01] [ 1.15812423e-02 9.99932935e-01 0.00000000e+00 2.62692864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85068708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:0.26, Z:0.03 [[ 9.99984513e-01 -5.56532946e-03 0.00000000e+00 9.95662390e+01] [ 5.56532946e-03 9.99984513e-01 0.00000000e+00 2.57832450e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85017384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.60, Y:0.25, Z:0.03 [[ 9.99999735e-01 -7.28451032e-04 0.00000000e+00 9.95979503e+01] [ 7.28451032e-04 9.99999735e-01 0.00000000e+00 2.53410209e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97483727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.845336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.63, Y:0.25, Z:0.03 [[ 9.99998925e-01 1.46629480e-03 0.00000000e+00 9.96283295e+01] [-1.46629480e-03 9.99998925e-01 0.00000000e+00 2.49722909e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08741422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:0.25, Z:0.03 [[ 9.99998254e-01 1.86854457e-03 0.00000000e+00 9.96593326e+01] [-1.86854457e-03 9.99998254e-01 0.00000000e+00 2.50315660e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08863832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.69, Y:0.25, Z:0.03 [[ 9.99992962e-01 3.75169059e-03 0.00000000e+00 9.96885166e+01] [-3.75169059e-03 9.99992962e-01 0.00000000e+00 2.51083638e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81502041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.72, Y:0.25, Z:0.03 [[ 9.99986095e-01 5.27350866e-03 0.00000000e+00 9.97192898e+01] [-5.27350866e-03 9.99986095e-01 0.00000000e+00 2.51998363e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81343760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:0.25, Z:0.03 [[ 9.99968832e-01 7.89529861e-03 0.00000000e+00 9.97495383e+01] [-7.89529861e-03 9.99968832e-01 0.00000000e+00 2.49751765e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92585444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.78, Y:0.25, Z:0.03 [[ 9.99969010e-01 7.87271566e-03 0.00000000e+00 9.97795827e+01] [-7.87271566e-03 9.99969010e-01 0.00000000e+00 2.52411994e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92585444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.81, Y:0.25, Z:0.03 [[ 9.99948032e-01 1.01948027e-02 0.00000000e+00 9.98091838e+01] [-1.01948027e-02 9.99948032e-01 0.00000000e+00 2.51592982e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82117952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.84, Y:0.25, Z:0.02 [[ 9.99939871e-01 1.09660975e-02 0.00000000e+00 9.98388693e+01] [-1.09660975e-02 9.99939871e-01 0.00000000e+00 2.52633380e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45920439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:0.25, Z:0.02 [[ 9.99926029e-01 1.21629128e-02 0.00000000e+00 9.98684671e+01] [-1.21629128e-02 9.99926029e-01 0.00000000e+00 2.54828278e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76155742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.90, Y:0.26, Z:0.02 [[ 9.99921809e-01 1.25050572e-02 0.00000000e+00 9.98976124e+01] [-1.25050572e-02 9.99921809e-01 0.00000000e+00 2.62924559e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22625780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.93, Y:0.27, Z:0.02 [[ 9.99931327e-01 1.17192805e-02 0.00000000e+00 9.99269551e+01] [-1.17192805e-02 9.99931327e-01 0.00000000e+00 2.68439896e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44211644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:0.27, Z:0.03 [[ 9.99965592e-01 8.29552642e-03 0.00000000e+00 9.99560816e+01] [-8.29552642e-03 9.99965592e-01 0.00000000e+00 2.71363772e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60295037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.99, Y:0.27, Z:0.02 [[ 9.99999660e-01 8.24122716e-04 0.00000000e+00 9.99852037e+01] [-8.24122716e-04 9.99999660e-01 0.00000000e+00 2.72633395e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31306493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.02, Y:0.28, Z:0.02 [[ 9.99991093e-01 -4.22067988e-03 0.00000000e+00 1.00015708e+02] [ 4.22067988e-03 9.99991093e-01 0.00000000e+00 2.76285734e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18976839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:0.28, Z:0.02 [[ 9.99877503e-01 -1.56517990e-02 0.00000000e+00 1.00045584e+02] [ 1.56517990e-02 9.99877503e-01 0.00000000e+00 2.80785221e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16748677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:0.28, Z:0.02 [[ 9.99642422e-01 -2.67400189e-02 0.00000000e+00 1.00075724e+02] [ 2.67400189e-02 9.99642422e-01 0.00000000e+00 2.81156655e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10066450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:0.28, Z:0.02 [[ 9.99503031e-01 -3.15228575e-02 0.00000000e+00 1.00106335e+02] [ 3.15228575e-02 9.99503031e-01 0.00000000e+00 2.80220186e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06597866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.14, Y:0.27, Z:0.03 [[ 9.99250614e-01 -3.87067178e-02 0.00000000e+00 1.00137612e+02] [ 3.87067178e-02 9.99250614e-01 0.00000000e+00 2.74175449e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51654286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.17, Y:0.28, Z:0.04 [[ 9.99138883e-01 -4.14908733e-02 0.00000000e+00 1.00168086e+02] [ 4.14908733e-02 9.99138883e-01 0.00000000e+00 2.76479231e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53734920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.20, Y:0.28, Z:0.04 [[ 9.99159311e-01 -4.09959952e-02 0.00000000e+00 1.00198457e+02] [ 4.09959952e-02 9.99159311e-01 0.00000000e+00 2.80313361e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77894999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.23, Y:0.28, Z:0.03 [[ 9.99282524e-01 -3.78739660e-02 0.00000000e+00 1.00227802e+02] [ 3.78739660e-02 9.99282524e-01 0.00000000e+00 2.80324703e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29753120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:0.28, Z:0.03 [[ 9.99452208e-01 -3.30950764e-02 0.00000000e+00 1.00258611e+02] [ 3.30950764e-02 9.99452208e-01 0.00000000e+00 2.75731367e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88312506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:0.28, Z:0.03 [[ 9.99544738e-01 -3.01714622e-02 0.00000000e+00 1.00288980e+02] [ 3.01714622e-02 9.99544738e-01 0.00000000e+00 2.75384105e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89151247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:0.28, Z:0.03 [[ 9.99684946e-01 -2.50999654e-02 0.00000000e+00 1.00318690e+02] [ 2.50999654e-02 9.99684946e-01 0.00000000e+00 2.76357836e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51805434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:0.29, Z:0.03 [[ 9.99807182e-01 -1.96366620e-02 0.00000000e+00 1.00348813e+02] [ 1.96366620e-02 9.99807182e-01 0.00000000e+00 2.85352849e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77445846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:0.29, Z:0.03 [[ 9.99863986e-01 -1.64927122e-02 0.00000000e+00 1.00378500e+02] [ 1.64927122e-02 9.99863986e-01 0.00000000e+00 2.90978629e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99359135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:0.29, Z:0.03 [[ 9.99932382e-01 -1.16288663e-02 0.00000000e+00 1.00409181e+02] [ 1.16288663e-02 9.99932382e-01 0.00000000e+00 2.89953354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40888098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:0.29, Z:0.03 [[ 9.99954620e-01 -9.52674396e-03 0.00000000e+00 1.00441252e+02] [ 9.52674396e-03 9.99954620e-01 0.00000000e+00 2.88093655e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46437718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.47, Y:0.29, Z:0.03 [[ 9.99960131e-01 -8.92951075e-03 0.00000000e+00 1.00471984e+02] [ 8.92951075e-03 9.99960131e-01 0.00000000e+00 2.91137675e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36992738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.50, Y:0.29, Z:0.03 [[ 9.99954937e-01 -9.49332852e-03 0.00000000e+00 1.00502405e+02] [ 9.49332852e-03 9.99954937e-01 0.00000000e+00 2.92747554e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13114795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.53, Y:0.29, Z:0.03 [[ 9.99918275e-01 -1.27844780e-02 0.00000000e+00 1.00532868e+02] [ 1.27844780e-02 9.99918275e-01 0.00000000e+00 2.93524368e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03888213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.56, Y:0.30, Z:0.03 [[ 9.99884631e-01 -1.51896300e-02 0.00000000e+00 1.00563737e+02] [ 1.51896300e-02 9.99884631e-01 0.00000000e+00 2.98252383e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12676963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.59, Y:0.30, Z:0.03 [[ 9.99773409e-01 -2.12868667e-02 0.00000000e+00 1.00593567e+02] [ 2.12868667e-02 9.99773409e-01 0.00000000e+00 3.02677629e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08240394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:0.30, Z:0.03 [[ 9.99639229e-01 -2.68591113e-02 0.00000000e+00 1.00623967e+02] [ 2.68591113e-02 9.99639229e-01 0.00000000e+00 2.97476217e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34429334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:0.30, Z:0.03 [[ 9.99594844e-01 -2.84631085e-02 0.00000000e+00 1.00654699e+02] [ 2.84631085e-02 9.99594844e-01 0.00000000e+00 2.95042681e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35459257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.69, Y:0.29, Z:0.03 [[ 9.99512722e-01 -3.12140726e-02 0.00000000e+00 1.00686050e+02] [ 3.12140726e-02 9.99512722e-01 0.00000000e+00 2.89891191e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07021066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.72, Y:0.29, Z:0.03 [[ 9.99432557e-01 -3.36832803e-02 0.00000000e+00 1.00715268e+02] [ 3.36832803e-02 9.99432557e-01 0.00000000e+00 2.92695720e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08552160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:0.30, Z:0.03 [[ 9.99418046e-01 -3.41111463e-02 0.00000000e+00 1.00745300e+02] [ 3.41111463e-02 9.99418046e-01 0.00000000e+00 2.97893253e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15013715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.77, Y:0.30, Z:0.03 [[ 9.99470177e-01 -3.25478976e-02 0.00000000e+00 1.00774879e+02] [ 3.25478976e-02 9.99470177e-01 0.00000000e+00 2.99568370e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99331846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:0.30, Z:0.03 [[ 9.99538258e-01 -3.03853838e-02 0.00000000e+00 1.00804996e+02] [ 3.03853838e-02 9.99538258e-01 0.00000000e+00 2.98372400e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96234224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.84, Y:0.30, Z:0.03 [[ 9.99686730e-01 -2.50288287e-02 0.00000000e+00 1.00835333e+02] [ 2.50288287e-02 9.99686730e-01 0.00000000e+00 2.97934159e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45565831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:0.30, Z:0.03 [[ 9.99804919e-01 -1.97515537e-02 0.00000000e+00 1.00865796e+02] [ 1.97515537e-02 9.99804919e-01 0.00000000e+00 3.00660363e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32200642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.90, Y:0.30, Z:0.03 [[ 9.99887398e-01 -1.50063747e-02 0.00000000e+00 1.00895529e+02] [ 1.50063747e-02 9.99887398e-01 0.00000000e+00 3.04558815e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37780094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.93, Y:0.31, Z:0.04 [[ 9.99932690e-01 -1.16023552e-02 0.00000000e+00 1.00925310e+02] [ 1.16023552e-02 9.99932690e-01 0.00000000e+00 3.12619390e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64013163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.96, Y:0.32, Z:0.03 [[ 9.99942635e-01 -1.07110842e-02 0.00000000e+00 1.00955430e+02] [ 1.07110842e-02 9.99942635e-01 0.00000000e+00 3.17449077e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49653188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.99, Y:0.32, Z:0.03 [[ 9.99945399e-01 -1.04498100e-02 0.00000000e+00 1.00985478e+02] [ 1.04498100e-02 9.99945399e-01 0.00000000e+00 3.19763420e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37902864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:0.32, Z:0.04 [[ 9.99940619e-01 -1.08975985e-02 0.00000000e+00 1.01016020e+02] [ 1.08975985e-02 9.99940619e-01 0.00000000e+00 3.21637010e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50078552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.05, Y:0.33, Z:0.04 [[ 9.99923089e-01 -1.24022981e-02 0.00000000e+00 1.01046410e+02] [ 1.24022981e-02 9.99923089e-01 0.00000000e+00 3.25581141e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59403385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:0.33, Z:0.03 [[ 9.99914104e-01 -1.31066267e-02 0.00000000e+00 1.01076193e+02] [ 1.31066267e-02 9.99914104e-01 0.00000000e+00 3.30845625e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42296979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.11, Y:0.34, Z:0.03 [[ 9.99904552e-01 -1.38161905e-02 0.00000000e+00 1.01106501e+02] [ 1.38161905e-02 9.99904552e-01 0.00000000e+00 3.39688073e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21490291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.14, Y:0.34, Z:0.03 [[ 9.99891181e-01 -1.47521624e-02 0.00000000e+00 1.01137376e+02] [ 1.47521624e-02 9.99891181e-01 0.00000000e+00 3.42731663e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22708101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37533619499999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.17, Y:0.34, Z:0.03 [[ 9.99878916e-01 -1.55612655e-02 0.00000000e+00 1.01168483e+02] [ 1.55612655e-02 9.99878916e-01 0.00000000e+00 3.44631301e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22530067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:0.35, Z:0.03 [[ 9.99809463e-01 -1.95201640e-02 0.00000000e+00 1.01199002e+02] [ 1.95201640e-02 9.99809463e-01 0.00000000e+00 3.46858488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84890819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:0.36, Z:0.04 [[ 9.99732082e-01 -2.31465896e-02 0.00000000e+00 1.01229758e+02] [ 2.31465896e-02 9.99732082e-01 0.00000000e+00 3.55565284e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55991109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.26, Y:0.36, Z:0.04 [[ 9.99697899e-01 -2.45786782e-02 0.00000000e+00 1.01259823e+02] [ 2.45786782e-02 9.99697899e-01 0.00000000e+00 3.62874759e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72444998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.29, Y:0.37, Z:0.03 [[ 9.99663898e-01 -2.59247225e-02 0.00000000e+00 1.01289898e+02] [ 2.59247225e-02 9.99663898e-01 0.00000000e+00 3.68741420e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45489248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:0.36, Z:0.03 [[ 9.99606425e-01 -2.80534462e-02 0.00000000e+00 1.01320118e+02] [ 2.80534462e-02 9.99606425e-01 0.00000000e+00 3.63825040e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27821657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.35, Y:0.37, Z:0.04 [[ 9.99546461e-01 -3.01143053e-02 0.00000000e+00 1.01349441e+02] [ 3.01143053e-02 9.99546461e-01 0.00000000e+00 3.66458145e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59522893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.38, Y:0.37, Z:0.04 [[ 9.99516949e-01 -3.10784434e-02 0.00000000e+00 1.01379031e+02] [ 3.10784434e-02 9.99516949e-01 0.00000000e+00 3.73568087e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61269503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:0.38, Z:0.03 [[ 9.99487139e-01 -3.20227781e-02 0.00000000e+00 1.01409472e+02] [ 3.20227781e-02 9.99487139e-01 0.00000000e+00 3.78867490e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44518483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:0.38, Z:0.03 [[ 9.99494944e-01 -3.17782567e-02 0.00000000e+00 1.01439478e+02] [ 3.17782567e-02 9.99494944e-01 0.00000000e+00 3.79325337e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44715564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.47, Y:0.38, Z:0.03 [[ 9.99519179e-01 -3.10066313e-02 0.00000000e+00 1.01470079e+02] [ 3.10066313e-02 9.99519179e-01 0.00000000e+00 3.76428249e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23909093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:0.38, Z:0.03 [[ 9.99477406e-01 -3.23251575e-02 0.00000000e+00 1.01500203e+02] [ 3.23251575e-02 9.99477406e-01 0.00000000e+00 3.80254822e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04179281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:0.39, Z:0.03 [[ 9.99454736e-01 -3.30186551e-02 0.00000000e+00 1.01530710e+02] [ 3.30186551e-02 9.99454736e-01 0.00000000e+00 3.86724688e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44935191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:0.39, Z:0.04 [[ 9.99424841e-01 -3.39114643e-02 0.00000000e+00 1.01561224e+02] [ 3.39114643e-02 9.99424841e-01 0.00000000e+00 3.90868823e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77287488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:0.38, Z:0.03 [[ 9.99411078e-01 -3.43146671e-02 0.00000000e+00 1.01592459e+02] [ 3.43146671e-02 9.99411078e-01 0.00000000e+00 3.84398002e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07656483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:0.38, Z:0.03 [[ 9.99425502e-01 -3.38919641e-02 0.00000000e+00 1.01622294e+02] [ 3.38919641e-02 9.99425502e-01 0.00000000e+00 3.84492496e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87101619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.65, Y:0.39, Z:0.03 [[ 9.99510241e-01 -3.12934166e-02 0.00000000e+00 1.01652814e+02] [ 3.12934166e-02 9.99510241e-01 0.00000000e+00 3.90584965e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20546850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.68, Y:0.39, Z:0.03 [[ 9.99510241e-01 -3.12934166e-02 0.00000000e+00 1.01683695e+02] [ 3.12934166e-02 9.99510241e-01 0.00000000e+00 3.93280615e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20546850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:0.40, Z:0.03 [[ 9.99587726e-01 -2.87119862e-02 0.00000000e+00 1.01713518e+02] [ 2.87119862e-02 9.99587726e-01 0.00000000e+00 4.03179822e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16627499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.74, Y:0.40, Z:0.03 [[ 9.99619352e-01 -2.75889754e-02 0.00000000e+00 1.01743626e+02] [ 2.75889754e-02 9.99619352e-01 0.00000000e+00 4.03531919e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13741542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:0.40, Z:0.03 [[ 9.99605708e-01 -2.80789870e-02 0.00000000e+00 1.01773733e+02] [ 2.80789870e-02 9.99605708e-01 0.00000000e+00 4.01342580e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32616575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.80, Y:0.40, Z:0.03 [[ 9.99568279e-01 -2.93812222e-02 0.00000000e+00 1.01804850e+02] [ 2.93812222e-02 9.99568279e-01 0.00000000e+00 3.96761911e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19345125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:0.40, Z:0.03 [[ 9.99544138e-01 -3.01913195e-02 0.00000000e+00 1.01834721e+02] [ 3.01913195e-02 9.99544138e-01 0.00000000e+00 4.01342236e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01766515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:0.41, Z:0.03 [[ 9.99556336e-01 -2.97847307e-02 0.00000000e+00 1.01863515e+02] [ 2.97847307e-02 9.99556336e-01 0.00000000e+00 4.06059522e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80620257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:0.41, Z:0.03 [[ 9.99602256e-01 -2.82015798e-02 0.00000000e+00 1.01893936e+02] [ 2.82015798e-02 9.99602256e-01 0.00000000e+00 4.10056691e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07769699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:0.41, Z:0.03 [[ 9.99686912e-01 -2.50215387e-02 0.00000000e+00 1.01924417e+02] [ 2.50215387e-02 9.99686912e-01 0.00000000e+00 4.11279006e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04756615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:0.41, Z:0.03 [[ 9.99735374e-01 -2.30039608e-02 0.00000000e+00 1.01955096e+02] [ 2.30039608e-02 9.99735374e-01 0.00000000e+00 4.14458019e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12440870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.99, Y:0.42, Z:0.03 [[ 9.99824840e-01 -1.87160143e-02 0.00000000e+00 1.01985266e+02] [ 1.87160143e-02 9.99824840e-01 0.00000000e+00 4.15679605e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90195918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.01, Y:0.42, Z:0.03 [[ 9.99852757e-01 -1.71599348e-02 0.00000000e+00 1.02014177e+02] [ 1.71599348e-02 9.99852757e-01 0.00000000e+00 4.18578605e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75787287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.05, Y:0.42, Z:0.03 [[ 9.99841537e-01 -1.78017373e-02 0.00000000e+00 1.02045346e+02] [ 1.78017373e-02 9.99841537e-01 0.00000000e+00 4.22855231e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05753896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.08, Y:0.43, Z:0.03 [[ 9.99823134e-01 -1.88069591e-02 0.00000000e+00 1.02075853e+02] [ 1.88069591e-02 9.99823134e-01 0.00000000e+00 4.25142426e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16729527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.11, Y:0.42, Z:0.03 [[ 9.99801025e-01 -1.99476734e-02 0.00000000e+00 1.02107216e+02] [ 1.99476734e-02 9.99801025e-01 0.00000000e+00 4.22880422e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01630907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.14, Y:0.42, Z:0.03 [[ 9.99783054e-01 -2.08289339e-02 0.00000000e+00 1.02137103e+02] [ 2.08289339e-02 9.99783054e-01 0.00000000e+00 4.24290037e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98587851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.17, Y:0.43, Z:0.03 [[ 9.99755753e-01 -2.21005324e-02 0.00000000e+00 1.02167714e+02] [ 2.21005324e-02 9.99755753e-01 0.00000000e+00 4.27096459e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21940583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.395336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.20, Y:0.43, Z:0.03 [[ 9.99767323e-01 -2.15708330e-02 0.00000000e+00 1.02197556e+02] [ 2.15708330e-02 9.99767323e-01 0.00000000e+00 4.30660245e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16619431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.23, Y:0.43, Z:0.03 [[ 9.99781781e-01 -2.08899380e-02 0.00000000e+00 1.02226818e+02] [ 2.08899380e-02 9.99781781e-01 0.00000000e+00 4.33500119e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80518970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.26, Y:0.43, Z:0.03 [[ 9.99814907e-01 -1.92393429e-02 0.00000000e+00 1.02257400e+02] [ 1.92393429e-02 9.99814907e-01 0.00000000e+00 4.33479347e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84832138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.29, Y:0.43, Z:0.03 [[ 9.99843893e-01 -1.76688640e-02 0.00000000e+00 1.02286609e+02] [ 1.76688640e-02 9.99843893e-01 0.00000000e+00 4.32746745e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69974990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:0.44, Z:0.02 [[ 9.99825835e-01 -1.86627663e-02 0.00000000e+00 1.02316825e+02] [ 1.86627663e-02 9.99825835e-01 0.00000000e+00 4.37223830e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49719548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.35, Y:0.44, Z:0.03 [[ 9.99798742e-01 -2.00617818e-02 0.00000000e+00 1.02347134e+02] [ 2.00617818e-02 9.99798742e-01 0.00000000e+00 4.40601812e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53455331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.38, Y:0.44, Z:0.02 [[ 9.99750690e-01 -2.23284125e-02 0.00000000e+00 1.02378144e+02] [ 2.23284125e-02 9.99750690e-01 0.00000000e+00 4.43837923e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34763827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.41, Y:0.44, Z:0.01 [[ 9.99690441e-01 -2.48801590e-02 0.00000000e+00 1.02409412e+02] [ 2.48801590e-02 9.99690441e-01 0.00000000e+00 4.41456902e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34046298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.44, Y:0.44, Z:0.01 [[ 9.99636381e-01 -2.69649052e-02 0.00000000e+00 1.02439682e+02] [ 2.69649052e-02 9.99636381e-01 0.00000000e+00 4.39555957e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03627869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.47, Y:0.44, Z:0.02 [[ 9.99491698e-01 -3.18801886e-02 0.00000000e+00 1.02469676e+02] [ 3.18801886e-02 9.99491698e-01 0.00000000e+00 4.39748650e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98472238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.50, Y:0.44, Z:0.02 [[ 9.99416375e-01 -3.41600692e-02 0.00000000e+00 1.02498875e+02] [ 3.41600692e-02 9.99416375e-01 0.00000000e+00 4.44364808e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43166978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.725336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.53, Y:0.45, Z:0.03 [[ 9.99243226e-01 -3.88969873e-02 0.00000000e+00 1.02527699e+02] [ 3.88969873e-02 9.99243226e-01 0.00000000e+00 4.47812055e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95043943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.56, Y:0.45, Z:0.03 [[ 9.98998186e-01 -4.47506823e-02 0.00000000e+00 1.02557302e+02] [ 4.47506823e-02 9.98998186e-01 0.00000000e+00 4.45335981e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45492391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.59, Y:0.45, Z:0.04 [[ 9.98890882e-01 -4.70851023e-02 0.00000000e+00 1.02586781e+02] [ 4.70851023e-02 9.98890882e-01 0.00000000e+00 4.45212270e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59757553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.62, Y:0.44, Z:0.03 [[ 9.98751388e-01 -4.99566262e-02 0.00000000e+00 1.02615664e+02] [ 4.99566262e-02 9.98751388e-01 0.00000000e+00 4.41808124e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37087765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.64, Y:0.44, Z:0.03 [[ 9.98771020e-01 -4.95625834e-02 0.00000000e+00 1.02644264e+02] [ 4.95625834e-02 9.98771020e-01 0.00000000e+00 4.42090929e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64557310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87533619499999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:102.67, Y:0.45, Z:0.02 [[ 9.98862244e-01 -4.76887490e-02 0.00000000e+00 1.02672531e+02] [ 4.76887490e-02 9.98862244e-01 0.00000000e+00 4.45914442e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43022000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.70, Y:0.45, Z:0.03 [[ 9.99099085e-01 -4.24384000e-02 0.00000000e+00 1.02700444e+02] [ 4.24384000e-02 9.99099085e-01 0.00000000e+00 4.48326246e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67055229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.73, Y:0.45, Z:0.03 [[ 9.99309629e-01 -3.71519338e-02 0.00000000e+00 1.02730560e+02] [ 3.71519338e-02 9.99309629e-01 0.00000000e+00 4.45198884e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96077432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.76, Y:0.44, Z:0.03 [[ 9.99414401e-01 -3.42177684e-02 0.00000000e+00 1.02760885e+02] [ 3.42177684e-02 9.99414401e-01 0.00000000e+00 4.44162721e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99280104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.79, Y:0.44, Z:0.03 [[ 9.99568727e-01 -2.93659663e-02 0.00000000e+00 1.02790604e+02] [ 2.93659663e-02 9.99568727e-01 0.00000000e+00 4.44732848e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19173886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.82, Y:0.45, Z:0.03 [[ 9.99653173e-01 -2.63350218e-02 0.00000000e+00 1.02819669e+02] [ 2.63350218e-02 9.99653173e-01 0.00000000e+00 4.52976428e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98594603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.85, Y:0.46, Z:0.03 [[ 9.99684688e-01 -2.51102667e-02 0.00000000e+00 1.02849163e+02] [ 2.51102667e-02 9.99684688e-01 0.00000000e+00 4.56952278e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94296362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.88, Y:0.45, Z:0.03 [[ 9.99738078e-01 -2.28861250e-02 0.00000000e+00 1.02878014e+02] [ 2.28861250e-02 9.99738078e-01 0.00000000e+00 4.54303193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91098647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.91, Y:0.45, Z:0.03 [[ 9.99791760e-01 -2.04067936e-02 0.00000000e+00 1.02907222e+02] [ 2.04067936e-02 9.99791760e-01 0.00000000e+00 4.49028575e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82887915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.94, Y:0.45, Z:0.03 [[ 9.99808245e-01 -1.95824730e-02 0.00000000e+00 1.02937965e+02] [ 1.95824730e-02 9.99808245e-01 0.00000000e+00 4.50066230e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83488629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.97, Y:0.45, Z:0.03 [[ 9.99781132e-01 -2.09209777e-02 0.00000000e+00 1.02967522e+02] [ 2.09209777e-02 9.99781132e-01 0.00000000e+00 4.52436996e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05900518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.00, Y:0.45, Z:0.03 [[ 9.99740157e-01 -2.27951584e-02 0.00000000e+00 1.02998187e+02] [ 2.27951584e-02 9.99740157e-01 0.00000000e+00 4.54787559e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41782875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.03, Y:0.45, Z:0.03 [[ 9.99605948e-01 -2.80704180e-02 0.00000000e+00 1.03028128e+02] [ 2.80704180e-02 9.99605948e-01 0.00000000e+00 4.53628124e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36171590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.06, Y:0.45, Z:0.03 [[ 9.99517780e-01 -3.10516917e-02 0.00000000e+00 1.03058429e+02] [ 3.10516917e-02 9.99517780e-01 0.00000000e+00 4.51434381e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01542697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.09, Y:0.44, Z:0.03 [[ 9.99319468e-01 -3.68863113e-02 0.00000000e+00 1.03088758e+02] [ 3.68863113e-02 9.99319468e-01 0.00000000e+00 4.38927020e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09111035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.12, Y:0.44, Z:0.03 [[ 9.99325707e-01 -3.67169024e-02 0.00000000e+00 1.03116863e+02] [ 3.67169024e-02 9.99325707e-01 0.00000000e+00 4.40113467e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28583227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.14, Y:0.44, Z:0.04 [[ 9.99365520e-01 -3.56168152e-02 0.00000000e+00 1.03144465e+02] [ 3.56168152e-02 9.99365520e-01 0.00000000e+00 4.41388233e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51624155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.17, Y:0.44, Z:0.03 [[ 9.99549580e-01 -3.00106087e-02 0.00000000e+00 1.03172861e+02] [ 3.00106087e-02 9.99549580e-01 0.00000000e+00 4.38362125e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09186187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:0.44, Z:0.03 [[ 9.99745755e-01 -2.25482834e-02 0.00000000e+00 1.03201497e+02] [ 2.25482834e-02 9.99745755e-01 0.00000000e+00 4.38201168e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10709544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:0.44, Z:0.03 [[ 9.99820076e-01 -1.89687913e-02 0.00000000e+00 1.03230945e+02] [ 1.89687913e-02 9.99820076e-01 0.00000000e+00 4.41679786e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04278066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:0.44, Z:0.03 [[ 9.99926230e-01 -1.21463568e-02 0.00000000e+00 1.03259852e+02] [ 1.21463568e-02 9.99926230e-01 0.00000000e+00 4.44545459e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98164368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.29, Y:0.45, Z:0.03 [[ 9.99961133e-01 -8.81657740e-03 0.00000000e+00 1.03290231e+02] [ 8.81657740e-03 9.99961133e-01 0.00000000e+00 4.46128296e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08797058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.32, Y:0.45, Z:0.03 [[ 9.99995682e-01 -2.93881069e-03 0.00000000e+00 1.03320308e+02] [ 2.93881069e-03 9.99995682e-01 0.00000000e+00 4.48987426e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20219940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:0.46, Z:0.03 [[ 9.99998919e-01 1.47009131e-03 0.00000000e+00 1.03349797e+02] [-1.47009131e-03 9.99998919e-01 0.00000000e+00 4.56823198e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30561610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.38, Y:0.46, Z:0.03 [[ 9.99997966e-01 2.01688755e-03 0.00000000e+00 1.03379883e+02] [-2.01688755e-03 9.99997966e-01 0.00000000e+00 4.63692161e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22113993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.41, Y:0.47, Z:0.03 [[ 9.99999847e-01 5.52402898e-04 0.00000000e+00 1.03409795e+02] [-5.52402898e-04 9.99999847e-01 0.00000000e+00 4.73826475e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80621080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.44, Y:0.48, Z:0.03 [[ 9.99990320e-01 -4.39990772e-03 0.00000000e+00 1.03439983e+02] [ 4.39990772e-03 9.99990320e-01 0.00000000e+00 4.77866302e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94956676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.47, Y:0.48, Z:0.03 [[ 9.99965513e-01 -8.30498943e-03 0.00000000e+00 1.03469122e+02] [ 8.30498943e-03 9.99965513e-01 0.00000000e+00 4.79162865e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04951731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:0.48, Z:0.03 [[ 9.99839710e-01 -1.79040564e-02 0.00000000e+00 1.03498214e+02] [ 1.79040564e-02 9.99839710e-01 0.00000000e+00 4.83106218e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89847117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.53, Y:0.49, Z:0.03 [[ 9.99618369e-01 -2.76245547e-02 0.00000000e+00 1.03526357e+02] [ 2.76245547e-02 9.99618369e-01 0.00000000e+00 4.89233933e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82570803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.56, Y:0.49, Z:0.03 [[ 9.99496132e-01 -3.17408691e-02 0.00000000e+00 1.03555784e+02] [ 3.17408691e-02 9.99496132e-01 0.00000000e+00 4.91523924e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12898323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.58, Y:0.49, Z:0.03 [[ 9.99491069e-01 -3.18998747e-02 0.00000000e+00 1.03584977e+02] [ 3.18998747e-02 9.99491069e-01 0.00000000e+00 4.94247230e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12898323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.61, Y:0.50, Z:0.04 [[ 9.99248354e-01 -3.87650116e-02 0.00000000e+00 1.03613536e+02] [ 3.87650116e-02 9.99248354e-01 0.00000000e+00 4.95691575e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56271829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.64, Y:0.50, Z:0.03 [[ 9.99121680e-01 -4.19030865e-02 0.00000000e+00 1.03642000e+02] [ 4.19030865e-02 9.99121680e-01 0.00000000e+00 4.98074572e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46647773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.67, Y:0.50, Z:0.03 [[ 9.98860343e-01 -4.77285579e-02 0.00000000e+00 1.03669889e+02] [ 4.77285579e-02 9.98860343e-01 0.00000000e+00 4.98761996e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21857832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:0.50, Z:0.03 [[ 9.98577645e-01 -5.33168538e-02 0.00000000e+00 1.03698188e+02] [ 5.33168538e-02 9.98577645e-01 0.00000000e+00 4.99406722e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25958695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:0.50, Z:0.03 [[ 9.98421756e-01 -5.61604640e-02 0.00000000e+00 1.03726398e+02] [ 5.61604640e-02 9.98421756e-01 0.00000000e+00 5.01327932e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15701192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:0.50, Z:0.03 [[ 9.98127092e-01 -6.11744094e-02 0.00000000e+00 1.03755280e+02] [ 6.11744094e-02 9.98127092e-01 0.00000000e+00 4.97697235e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86192274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:0.49, Z:0.03 [[ 9.98019504e-01 -6.29052495e-02 0.00000000e+00 1.03783317e+02] [ 6.29052495e-02 9.98019504e-01 0.00000000e+00 4.92379531e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08280538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.81, Y:0.49, Z:0.03 [[ 9.98060229e-01 -6.22557505e-02 0.00000000e+00 1.03811107e+02] [ 6.22557505e-02 9.98060229e-01 0.00000000e+00 4.93630704e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25347066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:0.50, Z:0.03 [[ 9.98251985e-01 -5.91013914e-02 0.00000000e+00 1.03839176e+02] [ 5.91013914e-02 9.98251985e-01 0.00000000e+00 4.97846095e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33158995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:0.50, Z:0.03 [[ 9.98367854e-01 -5.71106727e-02 0.00000000e+00 1.03867080e+02] [ 5.71106727e-02 9.98367854e-01 0.00000000e+00 4.99957794e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24309856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.90, Y:0.50, Z:0.03 [[ 9.98615865e-01 -5.25961458e-02 0.00000000e+00 1.03895864e+02] [ 5.25961458e-02 9.98615865e-01 0.00000000e+00 4.96746175e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13156966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.92, Y:0.50, Z:0.03 [[ 9.98738509e-01 -5.02134495e-02 0.00000000e+00 1.03924119e+02] [ 5.02134495e-02 9.98738509e-01 0.00000000e+00 4.96159539e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22369027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:0.50, Z:0.04 [[ 9.98952303e-01 -4.57634902e-02 0.00000000e+00 1.03951616e+02] [ 4.57634902e-02 9.98952303e-01 0.00000000e+00 4.95450588e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52698835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.98, Y:0.50, Z:0.04 [[ 9.99025509e-01 -4.41365162e-02 0.00000000e+00 1.03979145e+02] [ 4.41365162e-02 9.99025509e-01 0.00000000e+00 4.97159898e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64058404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:0.50, Z:0.03 [[ 9.99165657e-01 -4.08410297e-02 0.00000000e+00 1.04007209e+02] [ 4.08410297e-02 9.99165657e-01 0.00000000e+00 4.97181644e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32414292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:0.50, Z:0.03 [[ 9.99228056e-01 -3.92847645e-02 0.00000000e+00 1.04035850e+02] [ 3.92847645e-02 9.99228056e-01 0.00000000e+00 4.95545506e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40910299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:0.49, Z:0.04 [[ 9.99264509e-01 -3.83463420e-02 0.00000000e+00 1.04065179e+02] [ 3.83463420e-02 9.99264509e-01 0.00000000e+00 4.92488544e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77045096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:0.49, Z:0.04 [[ 9.99256109e-01 -3.85645950e-02 0.00000000e+00 1.04092792e+02] [ 3.85645950e-02 9.99256109e-01 0.00000000e+00 4.91222778e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50493437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.12, Y:0.48, Z:0.03 [[ 9.99240079e-01 -3.89777401e-02 0.00000000e+00 1.04121679e+02] [ 3.89777401e-02 9.99240079e-01 0.00000000e+00 4.82584552e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07904035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:0.48, Z:0.03 [[ 9.99255533e-01 -3.85795208e-02 0.00000000e+00 1.04149683e+02] [ 3.85795208e-02 9.99255533e-01 0.00000000e+00 4.81876643e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17969422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:0.49, Z:0.03 [[ 9.99378445e-01 -3.52522944e-02 0.00000000e+00 1.04175964e+02] [ 3.52522944e-02 9.99378445e-01 0.00000000e+00 4.86386236e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18485764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:0.49, Z:0.03 [[ 9.99443716e-01 -3.33505330e-02 0.00000000e+00 1.04204901e+02] [ 3.33505330e-02 9.99443716e-01 0.00000000e+00 4.88685322e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35467666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:0.48, Z:0.04 [[ 9.99585224e-01 -2.87989452e-02 0.00000000e+00 1.04233966e+02] [ 2.87989452e-02 9.99585224e-01 0.00000000e+00 4.80777953e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66704520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:0.48, Z:0.04 [[ 9.99744470e-01 -2.26051955e-02 0.00000000e+00 1.04262210e+02] [ 2.26051955e-02 9.99744470e-01 0.00000000e+00 4.75448570e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77657176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:0.48, Z:0.04 [[ 9.99810639e-01 -1.94598583e-02 0.00000000e+00 1.04290803e+02] [ 1.94598583e-02 9.99810639e-01 0.00000000e+00 4.78540533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69394715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.32, Y:0.49, Z:0.03 [[ 9.99907636e-01 -1.35911461e-02 0.00000000e+00 1.04319378e+02] [ 1.35911461e-02 9.99907636e-01 0.00000000e+00 4.85680401e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03488870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:0.49, Z:0.03 [[ 9.99972535e-01 -7.41147074e-03 0.00000000e+00 1.04348258e+02] [ 7.41147074e-03 9.99972535e-01 0.00000000e+00 4.90416779e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71341074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:0.49, Z:0.03 [[ 9.99988829e-01 -4.72669153e-03 0.00000000e+00 1.04378194e+02] [ 4.72669153e-03 9.99988829e-01 0.00000000e+00 4.91899366e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81520511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.41, Y:0.49, Z:0.03 [[ 9.99999381e-01 -1.11286422e-03 0.00000000e+00 1.04408257e+02] [ 1.11286422e-03 9.99999381e-01 0.00000000e+00 4.94342080e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09467682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.44, Y:0.50, Z:0.03 [[ 9.99999863e-01 5.23267016e-04 0.00000000e+00 1.04437722e+02] [-5.23267016e-04 9.99999863e-01 0.00000000e+00 5.00387344e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23765332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.47, Y:0.51, Z:0.03 [[ 9.99996059e-01 2.80746261e-03 0.00000000e+00 1.04465810e+02] [-2.80746261e-03 9.99996059e-01 0.00000000e+00 5.11865699e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23320050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.50, Y:0.52, Z:0.03 [[ 9.99999402e-01 1.09352845e-03 0.00000000e+00 1.04495383e+02] [-1.09352845e-03 9.99999402e-01 0.00000000e+00 5.22953476e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08785452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:0.53, Z:0.03 [[ 9.99999529e-01 -9.71036275e-04 0.00000000e+00 1.04525580e+02] [ 9.71036275e-04 9.99999529e-01 0.00000000e+00 5.30126415e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05987923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.55, Y:0.54, Z:0.03 [[ 9.99974146e-01 -7.19074518e-03 0.00000000e+00 1.04554755e+02] [ 7.19074518e-03 9.99974146e-01 0.00000000e+00 5.36488266e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08014204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:0.54, Z:0.03 [[ 9.99939702e-01 -1.09814486e-02 0.00000000e+00 1.04583804e+02] [ 1.09814486e-02 9.99939702e-01 0.00000000e+00 5.39980645e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05065507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.61, Y:0.55, Z:0.03 [[ 9.99807143e-01 -1.96386751e-02 0.00000000e+00 1.04613187e+02] [ 1.96386751e-02 9.99807143e-01 0.00000000e+00 5.48432887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08331802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.64, Y:0.56, Z:0.03 [[ 9.99606605e-01 -2.80470178e-02 0.00000000e+00 1.04640994e+02] [ 2.80470178e-02 9.99606605e-01 0.00000000e+00 5.55582635e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04982837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.67, Y:0.56, Z:0.03 [[ 9.99362562e-01 -3.56997195e-02 0.00000000e+00 1.04669369e+02] [ 3.56997195e-02 9.99362562e-01 0.00000000e+00 5.60135084e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26780808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.70, Y:0.56, Z:0.03 [[ 9.99244479e-01 -3.88647916e-02 0.00000000e+00 1.04696879e+02] [ 3.88647916e-02 9.99244479e-01 0.00000000e+00 5.64878865e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34923249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.73, Y:0.57, Z:0.03 [[ 9.99042182e-01 -4.37574920e-02 0.00000000e+00 1.04725772e+02] [ 4.37574920e-02 9.99042182e-01 0.00000000e+00 5.70652986e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24380336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:0.57, Z:0.03 [[ 9.98969034e-01 -4.53967947e-02 0.00000000e+00 1.04753859e+02] [ 4.53967947e-02 9.98969034e-01 0.00000000e+00 5.73270654e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86163625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:0.57, Z:0.03 [[ 9.98849367e-01 -4.79577086e-02 0.00000000e+00 1.04781673e+02] [ 4.79577086e-02 9.98849367e-01 0.00000000e+00 5.74619495e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81897107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.81, Y:0.58, Z:0.03 [[ 9.98742939e-01 -5.01252596e-02 0.00000000e+00 1.04809858e+02] [ 5.01252596e-02 9.98742939e-01 0.00000000e+00 5.77456825e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81558522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:0.58, Z:0.03 [[ 9.98692036e-01 -5.11294182e-02 0.00000000e+00 1.04838893e+02] [ 5.11294182e-02 9.98692036e-01 0.00000000e+00 5.81361908e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65694545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:0.59, Z:0.03 [[ 9.98650455e-01 -5.19352292e-02 0.00000000e+00 1.04866594e+02] [ 5.19352292e-02 9.98650455e-01 0.00000000e+00 5.85790304e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71579575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:0.59, Z:0.03 [[ 9.98645318e-01 -5.20339144e-02 0.00000000e+00 1.04894473e+02] [ 5.20339144e-02 9.98645318e-01 0.00000000e+00 5.85080366e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82707010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:0.59, Z:0.03 [[ 9.98652436e-01 -5.18971279e-02 0.00000000e+00 1.04922166e+02] [ 5.18971279e-02 9.98652436e-01 0.00000000e+00 5.85620034e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80691155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:0.59, Z:0.03 [[ 9.98693698e-01 -5.10969414e-02 0.00000000e+00 1.04950609e+02] [ 5.10969414e-02 9.98693698e-01 0.00000000e+00 5.86168433e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73240662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.98, Y:0.59, Z:0.03 [[ 9.98933550e-01 -4.61710206e-02 0.00000000e+00 1.04978740e+02] [ 4.61710206e-02 9.98933550e-01 0.00000000e+00 5.86266119e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69228696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.01, Y:0.59, Z:0.03 [[ 9.99035444e-01 -4.39110618e-02 0.00000000e+00 1.05006548e+02] [ 4.39110618e-02 9.99035444e-01 0.00000000e+00 5.88440436e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83398499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.03, Y:0.59, Z:0.03 [[ 9.99235888e-01 -3.90850366e-02 0.00000000e+00 1.05034293e+02] [ 3.90850366e-02 9.99235888e-01 0.00000000e+00 5.87267720e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90044714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.06, Y:0.59, Z:0.03 [[ 9.99321789e-01 -3.68233802e-02 0.00000000e+00 1.05062003e+02] [ 3.68233802e-02 9.99321789e-01 0.00000000e+00 5.87866327e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53982295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.09, Y:0.59, Z:0.02 [[ 9.99435659e-01 -3.35911296e-02 0.00000000e+00 1.05090881e+02] [ 3.35911296e-02 9.99435659e-01 0.00000000e+00 5.90886263e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46215009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.12, Y:0.59, Z:0.02 [[ 9.99483341e-01 -3.21411172e-02 0.00000000e+00 1.05118489e+02] [ 3.21411172e-02 9.99483341e-01 0.00000000e+00 5.94913396e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48602692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.15, Y:0.60, Z:0.03 [[ 9.99535369e-01 -3.04802583e-02 0.00000000e+00 1.05146293e+02] [ 3.04802583e-02 9.99535369e-01 0.00000000e+00 5.97720932e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53668468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.18, Y:0.60, Z:0.03 [[ 9.99537736e-01 -3.04025297e-02 0.00000000e+00 1.05175367e+02] [ 3.04025297e-02 9.99537736e-01 0.00000000e+00 5.98116429e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74439367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.20, Y:0.60, Z:0.03 [[ 9.99554697e-01 -2.98397138e-02 0.00000000e+00 1.05203981e+02] [ 2.98397138e-02 9.99554697e-01 0.00000000e+00 5.97569966e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28050105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.23, Y:0.60, Z:0.04 [[ 9.99563625e-01 -2.95391136e-02 0.00000000e+00 1.05232264e+02] [ 2.95391136e-02 9.99563625e-01 0.00000000e+00 6.01138677e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70249601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.26, Y:0.60, Z:0.03 [[ 9.99531940e-01 -3.05924960e-02 0.00000000e+00 1.05261887e+02] [ 3.05924960e-02 9.99531940e-01 0.00000000e+00 5.99393089e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13883810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60533619499999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.29, Y:0.60, Z:0.03 [[ 9.99493063e-01 -3.18373668e-02 0.00000000e+00 1.05290213e+02] [ 3.18373668e-02 9.99493063e-01 0.00000000e+00 5.98348176e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58081453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.32, Y:0.60, Z:0.02 [[ 9.99354249e-01 -3.59316670e-02 0.00000000e+00 1.05318995e+02] [ 3.59316670e-02 9.99354249e-01 0.00000000e+00 5.97753666e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36080292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.35, Y:0.60, Z:0.03 [[ 9.99267888e-01 -3.82581871e-02 0.00000000e+00 1.05347456e+02] [ 3.82581871e-02 9.99267888e-01 0.00000000e+00 6.01480234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57359006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.38, Y:0.60, Z:0.03 [[ 9.99260707e-01 -3.84452883e-02 0.00000000e+00 1.05375806e+02] [ 3.84452883e-02 9.99260707e-01 0.00000000e+00 6.04367501e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57359006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.40, Y:0.61, Z:0.02 [[ 9.99127356e-01 -4.17675219e-02 0.00000000e+00 1.05403597e+02] [ 4.17675219e-02 9.99127356e-01 0.00000000e+00 6.05260772e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16137192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.43, Y:0.60, Z:0.02 [[ 9.99075422e-01 -4.29918635e-02 0.00000000e+00 1.05432735e+02] [ 4.29918635e-02 9.99075422e-01 0.00000000e+00 6.02465388e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07757456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.46, Y:0.59, Z:0.02 [[ 9.99019551e-01 -4.42711697e-02 0.00000000e+00 1.05461737e+02] [ 4.42711697e-02 9.99019551e-01 0.00000000e+00 5.90465119e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26071024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.49, Y:0.58, Z:0.02 [[ 9.99035535e-01 -4.39089946e-02 0.00000000e+00 1.05490104e+02] [ 4.39089946e-02 9.99035535e-01 0.00000000e+00 5.84865657e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18398286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:0.59, Z:0.02 [[ 9.99069702e-01 -4.31245996e-02 0.00000000e+00 1.05518262e+02] [ 4.31245996e-02 9.99069702e-01 0.00000000e+00 5.87750364e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22824442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.55, Y:0.59, Z:0.02 [[ 9.99191884e-01 -4.01942691e-02 0.00000000e+00 1.05546604e+02] [ 4.01942691e-02 9.99191884e-01 0.00000000e+00 5.91780650e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46667001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.58, Y:0.58, Z:0.02 [[ 9.99323085e-01 -3.67881962e-02 0.00000000e+00 1.05575298e+02] [ 3.67881962e-02 9.99323085e-01 0.00000000e+00 5.84820270e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48622531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.60, Y:0.58, Z:0.03 [[ 9.99364752e-01 -3.56383473e-02 0.00000000e+00 1.05603454e+02] [ 3.56383473e-02 9.99364752e-01 0.00000000e+00 5.79400907e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62694392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.63, Y:0.57, Z:0.03 [[ 9.99432889e-01 -3.36734305e-02 0.00000000e+00 1.05632260e+02] [ 3.36734305e-02 9.99432889e-01 0.00000000e+00 5.71411820e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13569335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:0.57, Z:0.03 [[ 9.99477824e-01 -3.23122299e-02 0.00000000e+00 1.05659645e+02] [ 3.23122299e-02 9.99477824e-01 0.00000000e+00 5.74048809e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16150811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:0.58, Z:0.03 [[ 9.99588442e-01 -2.86870414e-02 0.00000000e+00 1.05688865e+02] [ 2.86870414e-02 9.99588442e-01 0.00000000e+00 5.76419875e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85123574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:0.58, Z:0.03 [[ 9.99635854e-01 -2.69844464e-02 0.00000000e+00 1.05716648e+02] [ 2.69844464e-02 9.99635854e-01 0.00000000e+00 5.75801612e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61543217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:0.57, Z:0.03 [[ 9.99711257e-01 -2.40291871e-02 0.00000000e+00 1.05744073e+02] [ 2.40291871e-02 9.99711257e-01 0.00000000e+00 5.69971456e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51069637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:0.57, Z:0.02 [[ 9.99759287e-01 -2.19401065e-02 0.00000000e+00 1.05773226e+02] [ 2.19401065e-02 9.99759287e-01 0.00000000e+00 5.65013965e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39688174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.80, Y:0.57, Z:0.02 [[ 9.99764340e-01 -2.17086189e-02 0.00000000e+00 1.05800628e+02] [ 2.17086189e-02 9.99764340e-01 0.00000000e+00 5.65707037e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43749995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:0.56, Z:0.03 [[ 9.99771897e-01 -2.13577808e-02 0.00000000e+00 1.05829675e+02] [ 2.13577808e-02 9.99771897e-01 0.00000000e+00 5.63508753e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12082103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.86, Y:0.56, Z:0.03 [[ 9.99779253e-01 -2.10105850e-02 0.00000000e+00 1.05857930e+02] [ 2.10105850e-02 9.99779253e-01 0.00000000e+00 5.56616833e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45774892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.88, Y:0.56, Z:0.03 [[ 9.99769120e-01 -2.14873436e-02 0.00000000e+00 1.05884970e+02] [ 2.14873436e-02 9.99769120e-01 0.00000000e+00 5.55934813e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42633217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.91, Y:0.56, Z:0.03 [[ 9.99754004e-01 -2.21795139e-02 0.00000000e+00 1.05912624e+02] [ 2.21795139e-02 9.99754004e-01 0.00000000e+00 5.55894296e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47688705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.94, Y:0.55, Z:0.03 [[ 9.99744532e-01 -2.26024322e-02 0.00000000e+00 1.05941717e+02] [ 2.26024322e-02 9.99744532e-01 0.00000000e+00 5.52333163e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26830232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.97, Y:0.55, Z:0.03 [[ 9.99746681e-01 -2.25072049e-02 0.00000000e+00 1.05970855e+02] [ 2.25072049e-02 9.99746681e-01 0.00000000e+00 5.50481738e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04537136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.00, Y:0.54, Z:0.03 [[ 9.99746431e-01 -2.25182828e-02 0.00000000e+00 1.05999712e+02] [ 2.25182828e-02 9.99746431e-01 0.00000000e+00 5.44730762e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51135021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.03, Y:0.54, Z:0.03 [[ 9.99737947e-01 -2.28918718e-02 0.00000000e+00 1.06027958e+02] [ 2.28918718e-02 9.99737947e-01 0.00000000e+00 5.43553330e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62430926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.06, Y:0.54, Z:0.03 [[ 9.99726869e-01 -2.33706476e-02 0.00000000e+00 1.06056421e+02] [ 2.33706476e-02 9.99726869e-01 0.00000000e+00 5.43374069e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36893286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.08, Y:0.55, Z:0.03 [[ 9.99741649e-01 -2.27296292e-02 0.00000000e+00 1.06084728e+02] [ 2.27296292e-02 9.99741649e-01 0.00000000e+00 5.45644211e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32098268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.11, Y:0.54, Z:0.03 [[ 9.99761790e-01 -2.18257380e-02 0.00000000e+00 1.06112837e+02] [ 2.18257380e-02 9.99761790e-01 0.00000000e+00 5.43683915e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16689374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.14, Y:0.54, Z:0.03 [[ 9.99811752e-01 -1.94025689e-02 0.00000000e+00 1.06140977e+02] [ 1.94025689e-02 9.99811752e-01 0.00000000e+00 5.37966072e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43949810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.17, Y:0.54, Z:0.04 [[ 9.99822581e-01 -1.88363006e-02 0.00000000e+00 1.06168983e+02] [ 1.88363006e-02 9.99822581e-01 0.00000000e+00 5.42917086e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62775980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.20, Y:0.55, Z:0.03 [[ 9.99814818e-01 -1.92439307e-02 0.00000000e+00 1.06196538e+02] [ 1.92439307e-02 9.99814818e-01 0.00000000e+00 5.46787541e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49623220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.23, Y:0.55, Z:0.03 [[ 9.99760798e-01 -2.18711223e-02 0.00000000e+00 1.06225345e+02] [ 2.18711223e-02 9.99760798e-01 0.00000000e+00 5.47944586e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01865148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.25, Y:0.55, Z:0.03 [[ 9.99651769e-01 -2.63882859e-02 0.00000000e+00 1.06253125e+02] [ 2.63882859e-02 9.99651769e-01 0.00000000e+00 5.45451816e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73230785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.28, Y:0.54, Z:0.03 [[ 9.99572846e-01 -2.92254213e-02 0.00000000e+00 1.06282286e+02] [ 2.92254213e-02 9.99572846e-01 0.00000000e+00 5.44646353e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02238740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.31, Y:0.54, Z:0.03 [[ 9.99357876e-01 -3.58306419e-02 0.00000000e+00 1.06311265e+02] [ 3.58306419e-02 9.99357876e-01 0.00000000e+00 5.41869493e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45366071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.34, Y:0.54, Z:0.04 [[ 9.99181796e-01 -4.04442614e-02 0.00000000e+00 1.06339181e+02] [ 4.04442614e-02 9.99181796e-01 0.00000000e+00 5.43259813e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65676724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.37, Y:0.54, Z:0.04 [[ 9.99152923e-01 -4.11513818e-02 0.00000000e+00 1.06366105e+02] [ 4.11513818e-02 9.99152923e-01 0.00000000e+00 5.44923258e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69836783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.40, Y:0.54, Z:0.03 [[ 9.99160114e-01 -4.09764236e-02 0.00000000e+00 1.06395176e+02] [ 4.09764236e-02 9.99160114e-01 0.00000000e+00 5.40773563e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46815816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.43, Y:0.54, Z:0.03 [[ 9.99170185e-01 -4.07301008e-02 0.00000000e+00 1.06425094e+02] [ 4.07301008e-02 9.99170185e-01 0.00000000e+00 5.36595736e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31464717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.45, Y:0.53, Z:0.03 [[ 9.99160922e-01 -4.09567181e-02 0.00000000e+00 1.06453629e+02] [ 4.09567181e-02 9.99160922e-01 0.00000000e+00 5.29402308e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16878748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.48, Y:0.53, Z:0.03 [[ 9.99217170e-01 -3.95606810e-02 0.00000000e+00 1.06479960e+02] [ 3.95606810e-02 9.99217170e-01 0.00000000e+00 5.34002620e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83507414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.51, Y:0.54, Z:0.03 [[ 9.99244363e-01 -3.88677574e-02 0.00000000e+00 1.06508825e+02] [ 3.88677574e-02 9.99244363e-01 0.00000000e+00 5.37134047e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59837286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.54, Y:0.53, Z:0.02 [[ 9.99334732e-01 -3.64704360e-02 0.00000000e+00 1.06537670e+02] [ 3.64704360e-02 9.99334732e-01 0.00000000e+00 5.31396323e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04516354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.57, Y:0.52, Z:0.03 [[ 9.99525592e-01 -3.07991986e-02 0.00000000e+00 1.06568044e+02] [ 3.07991986e-02 9.99525592e-01 0.00000000e+00 5.22139566e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60980693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.60, Y:0.52, Z:0.03 [[ 9.99664202e-01 -2.59130019e-02 0.00000000e+00 1.06596791e+02] [ 2.59130019e-02 9.99664202e-01 0.00000000e+00 5.22599231e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03204407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.62, Y:0.53, Z:0.03 [[ 9.99900182e-01 -1.41289294e-02 0.00000000e+00 1.06623943e+02] [ 1.41289294e-02 9.99900182e-01 0.00000000e+00 5.31591193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01396152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.65, Y:0.54, Z:0.03 [[ 9.99965272e-01 -8.33393820e-03 0.00000000e+00 1.06651812e+02] [ 8.33393820e-03 9.99965272e-01 0.00000000e+00 5.40585054e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14316019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.68, Y:0.55, Z:0.03 [[ 9.99999291e-01 1.19085914e-03 0.00000000e+00 1.06679770e+02] [-1.19085914e-03 9.99999291e-01 0.00000000e+00 5.53184839e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12218081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.71, Y:0.56, Z:0.03 [[ 9.99993707e-01 3.54772175e-03 0.00000000e+00 1.06710221e+02] [-3.54772175e-03 9.99993707e-01 0.00000000e+00 5.57260014e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10764196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.74, Y:0.56, Z:0.03 [[ 9.99993581e-01 3.58288186e-03 0.00000000e+00 1.06741836e+02] [-3.58288186e-03 9.99993581e-01 0.00000000e+00 5.57531133e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16126523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.77, Y:0.56, Z:0.03 [[ 9.99999931e-01 -3.70973634e-04 0.00000000e+00 1.06771624e+02] [ 3.70973634e-04 9.99999931e-01 0.00000000e+00 5.59813652e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95363751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.80, Y:0.57, Z:0.03 [[ 9.99983550e-01 -5.73579466e-03 0.00000000e+00 1.06800908e+02] [ 5.73579466e-03 9.99983550e-01 0.00000000e+00 5.68361601e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04088543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.83, Y:0.58, Z:0.03 [[ 9.99962048e-01 -8.71215961e-03 0.00000000e+00 1.06830363e+02] [ 8.71215961e-03 9.99962048e-01 0.00000000e+00 5.76355672e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01069385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.86, Y:0.59, Z:0.03 [[ 9.99876969e-01 -1.56859022e-02 0.00000000e+00 1.06857522e+02] [ 1.56859022e-02 9.99876969e-01 0.00000000e+00 5.86260074e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59022869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.89, Y:0.59, Z:0.03 [[ 9.99808919e-01 -1.95480071e-02 0.00000000e+00 1.06885689e+02] [ 1.95480071e-02 9.99808919e-01 0.00000000e+00 5.90004795e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58936127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.91, Y:0.59, Z:0.02 [[ 9.99643742e-01 -2.66906267e-02 0.00000000e+00 1.06914226e+02] [ 2.66906267e-02 9.99643742e-01 0.00000000e+00 5.90430935e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44922523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.94, Y:0.59, Z:0.02 [[ 9.99529612e-01 -3.06684706e-02 0.00000000e+00 1.06941675e+02] [ 3.06684706e-02 9.99529612e-01 0.00000000e+00 5.91727254e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17032871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.97, Y:0.60, Z:0.02 [[ 9.99215320e-01 -3.96073836e-02 0.00000000e+00 1.06968051e+02] [ 3.96073836e-02 9.99215320e-01 0.00000000e+00 5.96394486e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79677049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:0.61, Z:0.03 [[ 9.98876780e-01 -4.73833229e-02 0.00000000e+00 1.06996173e+02] [ 4.73833229e-02 9.98876780e-01 0.00000000e+00 6.05929934e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79473735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.02, Y:0.61, Z:0.03 [[ 9.98727259e-01 -5.04367155e-02 0.00000000e+00 1.07023255e+02] [ 5.04367155e-02 9.98727259e-01 0.00000000e+00 6.10704590e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12713050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.05, Y:0.61, Z:0.03 [[ 9.98489704e-01 -5.49391559e-02 0.00000000e+00 1.07051920e+02] [ 5.49391559e-02 9.98489704e-01 0.00000000e+00 6.10411256e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42302795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.08, Y:0.61, Z:0.03 [[ 9.98413384e-01 -5.63091015e-02 0.00000000e+00 1.07079867e+02] [ 5.63091015e-02 9.98413384e-01 0.00000000e+00 6.10929526e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25191946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.11, Y:0.62, Z:0.03 [[ 9.98390719e-01 -5.67095374e-02 0.00000000e+00 1.07107076e+02] [ 5.67095374e-02 9.98390719e-01 0.00000000e+00 6.15983927e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24478925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.13, Y:0.63, Z:0.03 [[ 9.98478038e-01 -5.51507804e-02 0.00000000e+00 1.07133648e+02] [ 5.51507804e-02 9.98478038e-01 0.00000000e+00 6.25094065e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05564386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.16, Y:0.63, Z:0.03 [[ 9.98569045e-01 -5.34776865e-02 0.00000000e+00 1.07161870e+02] [ 5.34776865e-02 9.98569045e-01 0.00000000e+00 6.29324642e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86050539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.19, Y:0.63, Z:0.03 [[ 9.98559256e-01 -5.36601488e-02 0.00000000e+00 1.07190228e+02] [ 5.36601488e-02 9.98559256e-01 0.00000000e+00 6.32408703e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86050539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.22, Y:0.64, Z:0.03 [[ 9.98802976e-01 -4.89143593e-02 0.00000000e+00 1.07218167e+02] [ 4.89143593e-02 9.98802976e-01 0.00000000e+00 6.35733831e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61187960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.25, Y:0.64, Z:0.03 [[ 9.98993633e-01 -4.48522135e-02 0.00000000e+00 1.07246204e+02] [ 4.48522135e-02 9.98993633e-01 0.00000000e+00 6.40528790e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07095972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.27, Y:0.65, Z:0.03 [[ 9.99065285e-01 -4.32267929e-02 0.00000000e+00 1.07274006e+02] [ 4.32267929e-02 9.99065285e-01 0.00000000e+00 6.46379378e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13520512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.30, Y:0.66, Z:0.03 [[ 9.99187929e-01 -4.02924670e-02 0.00000000e+00 1.07301242e+02] [ 4.02924670e-02 9.99187929e-01 0.00000000e+00 6.56722686e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40868800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.33, Y:0.66, Z:0.04 [[ 9.99218127e-01 -3.95365019e-02 0.00000000e+00 1.07330155e+02] [ 3.95365019e-02 9.99218127e-01 0.00000000e+00 6.61957870e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57327658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.36, Y:0.67, Z:0.03 [[ 9.99258601e-01 -3.84999676e-02 0.00000000e+00 1.07359119e+02] [ 3.84999676e-02 9.99258601e-01 0.00000000e+00 6.67169770e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20616484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.39, Y:0.67, Z:0.03 [[ 9.99304347e-01 -3.72937312e-02 0.00000000e+00 1.07388235e+02] [ 3.72937312e-02 9.99304347e-01 0.00000000e+00 6.70372570e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50130407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.42, Y:0.67, Z:0.02 [[ 9.99306640e-01 -3.72322419e-02 0.00000000e+00 1.07415486e+02] [ 3.72322419e-02 9.99306640e-01 0.00000000e+00 6.73789958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32911263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.44, Y:0.68, Z:0.03 [[ 9.99262769e-01 -3.83916455e-02 0.00000000e+00 1.07443859e+02] [ 3.83916455e-02 9.99262769e-01 0.00000000e+00 6.79954142e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50015813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.47, Y:0.68, Z:0.03 [[ 9.99118417e-01 -4.19808266e-02 0.00000000e+00 1.07471872e+02] [ 4.19808266e-02 9.99118417e-01 0.00000000e+00 6.84205705e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94483101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.50, Y:0.69, Z:0.03 [[ 9.98995982e-01 -4.47998624e-02 0.00000000e+00 1.07500554e+02] [ 4.47998624e-02 9.98995982e-01 0.00000000e+00 6.89251693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22726409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.53, Y:0.70, Z:0.04 [[ 9.98755065e-01 -4.98830645e-02 0.00000000e+00 1.07527333e+02] [ 4.98830645e-02 9.98755065e-01 0.00000000e+00 6.95794248e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59901635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.56, Y:0.69, Z:0.04 [[ 9.98488916e-01 -5.49534768e-02 0.00000000e+00 1.07555386e+02] [ 5.49534768e-02 9.98488916e-01 0.00000000e+00 6.94802401e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59084653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.58, Y:0.70, Z:0.03 [[ 9.98367205e-01 -5.71220097e-02 0.00000000e+00 1.07583709e+02] [ 5.71220097e-02 9.98367205e-01 0.00000000e+00 6.95703494e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48612138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.61, Y:0.70, Z:0.03 [[ 9.98163909e-01 -6.05707068e-02 0.00000000e+00 1.07611711e+02] [ 6.05707068e-02 9.98163909e-01 0.00000000e+00 6.99550162e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96294455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09533619499999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:107.64, Y:0.70, Z:0.03 [[ 9.97988504e-01 -6.33951634e-02 0.00000000e+00 1.07639781e+02] [ 6.33951634e-02 9.97988504e-01 0.00000000e+00 7.04682654e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68217812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.67, Y:0.71, Z:0.03 [[ 9.97878655e-01 -6.51013884e-02 0.00000000e+00 1.07667962e+02] [ 6.51013884e-02 9.97878655e-01 0.00000000e+00 7.06894459e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79985568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.70, Y:0.71, Z:0.03 [[ 9.97780865e-01 -6.65833679e-02 0.00000000e+00 1.07696933e+02] [ 6.65833679e-02 9.97780865e-01 0.00000000e+00 7.07350927e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03726473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.72, Y:0.71, Z:0.03 [[ 9.97768870e-01 -6.67628790e-02 0.00000000e+00 1.07724369e+02] [ 6.67628790e-02 9.97768870e-01 0.00000000e+00 7.07449197e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05175596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.75, Y:0.70, Z:0.03 [[ 9.97782308e-01 -6.65617409e-02 0.00000000e+00 1.07751582e+02] [ 6.65617409e-02 9.97782308e-01 0.00000000e+00 7.03172936e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14097364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.78, Y:0.70, Z:0.03 [[ 9.97777530e-01 -6.66333337e-02 0.00000000e+00 1.07779804e+02] [ 6.66333337e-02 9.97777530e-01 0.00000000e+00 7.01979815e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30398748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.81, Y:0.70, Z:0.03 [[ 9.97767836e-01 -6.67783234e-02 0.00000000e+00 1.07807847e+02] [ 6.67783234e-02 9.97767836e-01 0.00000000e+00 7.04762302e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33459178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.84, Y:0.71, Z:0.03 [[ 9.97786531e-01 -6.64984153e-02 0.00000000e+00 1.07835725e+02] [ 6.64984153e-02 9.97786531e-01 0.00000000e+00 7.08424631e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40544133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.86, Y:0.71, Z:0.03 [[ 9.97837692e-01 -6.57262558e-02 0.00000000e+00 1.07864544e+02] [ 6.57262558e-02 9.97837692e-01 0.00000000e+00 7.05368391e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44782774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.89, Y:0.70, Z:0.03 [[ 9.97874204e-01 -6.51695727e-02 0.00000000e+00 1.07892445e+02] [ 6.51695727e-02 9.97874204e-01 0.00000000e+00 7.01213118e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32425566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:0.69, Z:0.03 [[ 9.97940167e-01 -6.41515626e-02 0.00000000e+00 1.07920965e+02] [ 6.41515626e-02 9.97940167e-01 0.00000000e+00 6.92288937e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85079430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.95, Y:0.69, Z:0.03 [[ 9.97988187e-01 -6.34001416e-02 0.00000000e+00 1.07948992e+02] [ 6.34001416e-02 9.97988187e-01 0.00000000e+00 6.92568203e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80012598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.98, Y:0.69, Z:0.03 [[ 9.98103189e-01 -6.15631757e-02 0.00000000e+00 1.07978108e+02] [ 6.15631757e-02 9.98103189e-01 0.00000000e+00 6.93555895e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97558299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.01, Y:0.69, Z:0.03 [[ 9.98204542e-01 -5.98973436e-02 0.00000000e+00 1.08007150e+02] [ 5.98973436e-02 9.98204542e-01 0.00000000e+00 6.93271534e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17078745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.04, Y:0.69, Z:0.03 [[ 9.98271802e-01 -5.87657209e-02 0.00000000e+00 1.08035647e+02] [ 5.87657209e-02 9.98271802e-01 0.00000000e+00 6.91963971e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30203877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.06, Y:0.68, Z:0.04 [[ 9.98444467e-01 -5.57552380e-02 0.00000000e+00 1.08064414e+02] [ 5.57552380e-02 9.98444467e-01 0.00000000e+00 6.83164947e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61687727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.09, Y:0.68, Z:0.03 [[ 9.98686176e-01 -5.12437505e-02 0.00000000e+00 1.08094011e+02] [ 5.12437505e-02 9.98686176e-01 0.00000000e+00 6.79637286e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10756255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.12, Y:0.68, Z:0.03 [[ 9.98808164e-01 -4.88083205e-02 0.00000000e+00 1.08122549e+02] [ 4.88083205e-02 9.98808164e-01 0.00000000e+00 6.80899033e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83227643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:0.68, Z:0.03 [[ 9.99050259e-01 -4.35726923e-02 0.00000000e+00 1.08150311e+02] [ 4.35726923e-02 9.99050259e-01 0.00000000e+00 6.79201653e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13456481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.18, Y:0.68, Z:0.03 [[ 9.99139459e-01 -4.14770010e-02 0.00000000e+00 1.08178867e+02] [ 4.14770010e-02 9.99139459e-01 0.00000000e+00 6.79244499e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41159766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.21, Y:0.67, Z:0.03 [[ 9.99301621e-01 -3.73667043e-02 0.00000000e+00 1.08207627e+02] [ 3.73667043e-02 9.99301621e-01 0.00000000e+00 6.74337824e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25381039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.24, Y:0.67, Z:0.03 [[ 9.99361254e-01 -3.57363172e-02 0.00000000e+00 1.08236304e+02] [ 3.57363172e-02 9.99361254e-01 0.00000000e+00 6.73626301e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16625090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:0.67, Z:0.03 [[ 9.99449061e-01 -3.31899706e-02 0.00000000e+00 1.08265470e+02] [ 3.31899706e-02 9.99449061e-01 0.00000000e+00 6.70366891e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33418365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:0.67, Z:0.03 [[ 9.99445487e-01 -3.32974191e-02 0.00000000e+00 1.08293706e+02] [ 3.32974191e-02 9.99445487e-01 0.00000000e+00 6.69117483e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45044492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:0.67, Z:0.03 [[ 9.99410456e-01 -3.43327758e-02 0.00000000e+00 1.08321362e+02] [ 3.43327758e-02 9.99410456e-01 0.00000000e+00 6.69660279e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47532943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.35, Y:0.67, Z:0.03 [[ 9.99337741e-01 -3.63879155e-02 0.00000000e+00 1.08350086e+02] [ 3.63879155e-02 9.99337741e-01 0.00000000e+00 6.67185853e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35289481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.38, Y:0.66, Z:0.03 [[ 9.99252741e-01 -3.86517707e-02 0.00000000e+00 1.08378495e+02] [ 3.86517707e-02 9.99252741e-01 0.00000000e+00 6.64558380e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20743084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.41, Y:0.67, Z:0.03 [[ 9.99241753e-01 -3.89348146e-02 0.00000000e+00 1.08406252e+02] [ 3.89348146e-02 9.99241753e-01 0.00000000e+00 6.65312623e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94049949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.43, Y:0.66, Z:0.03 [[ 9.99275056e-01 -3.80704897e-02 0.00000000e+00 1.08434468e+02] [ 3.80704897e-02 9.99275056e-01 0.00000000e+00 6.63256678e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99441892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.46, Y:0.66, Z:0.03 [[ 9.99288495e-01 -3.77161040e-02 0.00000000e+00 1.08462069e+02] [ 3.77161040e-02 9.99288495e-01 0.00000000e+00 6.64483800e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10169354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.49, Y:0.67, Z:0.03 [[ 9.99312061e-01 -3.70864570e-02 0.00000000e+00 1.08490050e+02] [ 3.70864570e-02 9.99312061e-01 0.00000000e+00 6.66550522e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88204246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.52, Y:0.67, Z:0.03 [[ 9.99297443e-01 -3.74782591e-02 0.00000000e+00 1.08517986e+02] [ 3.74782591e-02 9.99297443e-01 0.00000000e+00 6.69095748e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90815483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.55, Y:0.67, Z:0.03 [[ 9.99187081e-01 -4.03134856e-02 0.00000000e+00 1.08545500e+02] [ 4.03134856e-02 9.99187081e-01 0.00000000e+00 6.70220199e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87071565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.57, Y:0.67, Z:0.03 [[ 9.98998736e-01 -4.47384217e-02 0.00000000e+00 1.08574662e+02] [ 4.47384217e-02 9.98998736e-01 0.00000000e+00 6.69989597e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10469256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.60, Y:0.67, Z:0.03 [[ 9.98923543e-01 -4.63870073e-02 0.00000000e+00 1.08603481e+02] [ 4.63870073e-02 9.98923543e-01 0.00000000e+00 6.69039900e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23201322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.63, Y:0.66, Z:0.03 [[ 9.98845402e-01 -4.80402151e-02 0.00000000e+00 1.08631815e+02] [ 4.80402151e-02 9.98845402e-01 0.00000000e+00 6.62927361e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07434911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.66, Y:0.67, Z:0.03 [[ 9.98845260e-01 -4.80431701e-02 0.00000000e+00 1.08660540e+02] [ 4.80431701e-02 9.98845260e-01 0.00000000e+00 6.66145877e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75852388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.69, Y:0.67, Z:0.02 [[ 9.98862799e-01 -4.76771319e-02 0.00000000e+00 1.08687184e+02] [ 4.76771319e-02 9.98862799e-01 0.00000000e+00 6.71937966e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37924193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.71, Y:0.68, Z:0.02 [[ 9.98927109e-01 -4.63101516e-02 0.00000000e+00 1.08714922e+02] [ 4.63101516e-02 9.98927109e-01 0.00000000e+00 6.79147621e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20571813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.74, Y:0.68, Z:0.03 [[ 9.99046744e-01 -4.36532239e-02 0.00000000e+00 1.08743301e+02] [ 4.36532239e-02 9.99046744e-01 0.00000000e+00 6.78286546e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65584588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.77, Y:0.68, Z:0.03 [[ 9.99108677e-01 -4.22119900e-02 0.00000000e+00 1.08771844e+02] [ 4.22119900e-02 9.99108677e-01 0.00000000e+00 6.77890015e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04834358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.80, Y:0.68, Z:0.03 [[ 9.99209698e-01 -3.97489544e-02 0.00000000e+00 1.08800076e+02] [ 3.97489544e-02 9.99209698e-01 0.00000000e+00 6.79436927e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01842574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.83, Y:0.69, Z:0.03 [[ 9.99251764e-01 -3.86770272e-02 0.00000000e+00 1.08828133e+02] [ 3.86770272e-02 9.99251764e-01 0.00000000e+00 6.85155579e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74050397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.86, Y:0.70, Z:0.02 [[ 9.99339840e-01 -3.63302013e-02 0.00000000e+00 1.08855150e+02] [ 3.63302013e-02 9.99339840e-01 0.00000000e+00 6.96594919e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00666752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.88, Y:0.70, Z:0.02 [[ 9.99376382e-01 -3.53107093e-02 0.00000000e+00 1.08882558e+02] [ 3.53107093e-02 9.99376382e-01 0.00000000e+00 7.04297139e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75005238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.91, Y:0.71, Z:0.02 [[ 9.99403215e-01 -3.45429275e-02 0.00000000e+00 1.08908708e+02] [ 3.45429275e-02 9.99403215e-01 0.00000000e+00 7.11738366e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77619288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.94, Y:0.71, Z:0.02 [[ 9.99319981e-01 -3.68724294e-02 0.00000000e+00 1.08937001e+02] [ 3.68724294e-02 9.99319981e-01 0.00000000e+00 7.14116371e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46398324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.97, Y:0.72, Z:0.02 [[ 9.99313437e-01 -3.70493462e-02 0.00000000e+00 1.08965354e+02] [ 3.70493462e-02 9.99313437e-01 0.00000000e+00 7.17406221e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46398324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.99, Y:0.72, Z:0.03 [[ 9.99169936e-01 -4.07362119e-02 0.00000000e+00 1.08993085e+02] [ 4.07362119e-02 9.99169936e-01 0.00000000e+00 7.22788992e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02430537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.02, Y:0.73, Z:0.03 [[ 9.99057627e-01 -4.34034245e-02 0.00000000e+00 1.09021541e+02] [ 4.34034245e-02 9.99057627e-01 0.00000000e+00 7.30458390e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19319975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.05, Y:0.74, Z:0.03 [[ 9.98775816e-01 -4.94658330e-02 0.00000000e+00 1.09047337e+02] [ 4.94658330e-02 9.98775816e-01 0.00000000e+00 7.43969656e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70929026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.07, Y:0.75, Z:0.02 [[ 9.98608529e-01 -5.27352429e-02 0.00000000e+00 1.09074723e+02] [ 5.27352429e-02 9.98608529e-01 0.00000000e+00 7.47974011e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44551622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.10, Y:0.74, Z:0.02 [[ 9.98253916e-01 -5.90687634e-02 0.00000000e+00 1.09104281e+02] [ 5.90687634e-02 9.98253916e-01 0.00000000e+00 7.43962353e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41864862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.13, Y:0.75, Z:0.02 [[ 9.97882893e-01 -6.50363903e-02 0.00000000e+00 1.09132470e+02] [ 6.50363903e-02 9.97882893e-01 0.00000000e+00 7.47689440e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99213436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.16, Y:0.76, Z:0.02 [[ 9.97751328e-01 -6.70245258e-02 0.00000000e+00 1.09159426e+02] [ 6.70245258e-02 9.97751328e-01 0.00000000e+00 7.55435653e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68464280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.19, Y:0.76, Z:0.02 [[ 9.97630978e-01 -6.87926654e-02 0.00000000e+00 1.09188039e+02] [ 6.87926654e-02 9.97630978e-01 0.00000000e+00 7.62609046e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55654524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.22, Y:0.76, Z:0.02 [[ 9.97606839e-01 -6.91418472e-02 0.00000000e+00 1.09216889e+02] [ 6.91418472e-02 9.97606839e-01 0.00000000e+00 7.63633087e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51077033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.25, Y:0.76, Z:0.01 [[ 9.97710104e-01 -6.76354136e-02 0.00000000e+00 1.09246396e+02] [ 6.76354136e-02 9.97710104e-01 0.00000000e+00 7.63142865e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43324798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.27, Y:0.77, Z:0.01 [[ 9.97773169e-01 -6.66985952e-02 0.00000000e+00 1.09274159e+02] [ 6.66985952e-02 9.97773169e-01 0.00000000e+00 7.66476390e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49498802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.30, Y:0.77, Z:0.02 [[ 9.97990710e-01 -6.33604233e-02 0.00000000e+00 1.09301710e+02] [ 6.33604233e-02 9.97990710e-01 0.00000000e+00 7.72487042e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93079082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.33, Y:0.78, Z:0.02 [[ 9.98028901e-01 -6.27559767e-02 0.00000000e+00 1.09329708e+02] [ 6.27559767e-02 9.98028901e-01 0.00000000e+00 7.75151201e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19919690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.36, Y:0.78, Z:0.02 [[ 9.97984774e-01 -6.34538441e-02 0.00000000e+00 1.09358773e+02] [ 6.34538441e-02 9.97984774e-01 0.00000000e+00 7.75850253e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20003732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.39, Y:0.78, Z:0.02 [[ 9.97906890e-01 -6.46671453e-02 0.00000000e+00 1.09387156e+02] [ 6.46671453e-02 9.97906890e-01 0.00000000e+00 7.76140828e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22332051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.42, Y:0.78, Z:0.02 [[ 9.97695796e-01 -6.78461322e-02 0.00000000e+00 1.09415501e+02] [ 6.78461322e-02 9.97695796e-01 0.00000000e+00 7.75268867e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25442247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.44, Y:0.78, Z:0.02 [[ 9.97626622e-01 -6.88558118e-02 0.00000000e+00 1.09443189e+02] [ 6.88558118e-02 9.97626622e-01 0.00000000e+00 7.77395005e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11686956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.47, Y:0.78, Z:0.02 [[ 9.97641161e-01 -6.86448345e-02 0.00000000e+00 1.09471566e+02] [ 6.86448345e-02 9.97641161e-01 0.00000000e+00 7.76712086e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01572575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.50, Y:0.78, Z:0.02 [[ 9.97673985e-01 -6.81661219e-02 0.00000000e+00 1.09499213e+02] [ 6.81661219e-02 9.97673985e-01 0.00000000e+00 7.76732496e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95641578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.53, Y:0.78, Z:0.02 [[ 9.97798365e-01 -6.63206018e-02 0.00000000e+00 1.09527871e+02] [ 6.63206018e-02 9.97798365e-01 0.00000000e+00 7.76244740e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01213535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.56, Y:0.78, Z:0.02 [[ 9.98069274e-01 -6.21105816e-02 0.00000000e+00 1.09555390e+02] [ 6.21105816e-02 9.98069274e-01 0.00000000e+00 7.77732922e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99028475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.58, Y:0.78, Z:0.02 [[ 9.98439294e-01 -5.58477960e-02 0.00000000e+00 1.09582795e+02] [ 5.58477960e-02 9.98439294e-01 0.00000000e+00 7.81060903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06439163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.61, Y:0.78, Z:0.02 [[ 9.98567668e-01 -5.35033862e-02 0.00000000e+00 1.09610959e+02] [ 5.35033862e-02 9.98567668e-01 0.00000000e+00 7.84858015e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98191517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.64, Y:0.79, Z:0.02 [[ 9.98740623e-01 -5.01713827e-02 0.00000000e+00 1.09640146e+02] [ 5.01713827e-02 9.98740623e-01 0.00000000e+00 7.86355319e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75034957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.67, Y:0.79, Z:0.02 [[ 9.98769370e-01 -4.95958307e-02 0.00000000e+00 1.09667563e+02] [ 4.95958307e-02 9.98769370e-01 0.00000000e+00 7.87358425e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88037451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.70, Y:0.79, Z:0.02 [[ 9.98744305e-01 -5.00980435e-02 0.00000000e+00 1.09696346e+02] [ 5.00980435e-02 9.98744305e-01 0.00000000e+00 7.88036454e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46156268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.72, Y:0.79, Z:0.03 [[ 9.98670651e-01 -5.15454192e-02 0.00000000e+00 1.09723999e+02] [ 5.15454192e-02 9.98670651e-01 0.00000000e+00 7.91704189e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51568082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.75, Y:0.80, Z:0.03 [[ 9.98496107e-01 -5.48226695e-02 0.00000000e+00 1.09750975e+02] [ 5.48226695e-02 9.98496107e-01 0.00000000e+00 7.97875216e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61015733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.78, Y:0.80, Z:0.03 [[ 9.98408770e-01 -5.63908436e-02 0.00000000e+00 1.09778935e+02] [ 5.63908436e-02 9.98408770e-01 0.00000000e+00 8.01963172e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65402140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.81, Y:0.81, Z:0.02 [[ 9.98283327e-01 -5.85696130e-02 0.00000000e+00 1.09807008e+02] [ 5.85696130e-02 9.98283327e-01 0.00000000e+00 8.05193134e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39619334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.84, Y:0.81, Z:0.02 [[ 9.98261952e-01 -5.89327952e-02 0.00000000e+00 1.09835915e+02] [ 5.89327952e-02 9.98261952e-01 0.00000000e+00 8.06119354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34514351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.86, Y:0.81, Z:0.02 [[ 9.98311250e-01 -5.80917197e-02 0.00000000e+00 1.09863539e+02] [ 5.80917197e-02 9.98311250e-01 0.00000000e+00 8.08655178e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21279166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.89, Y:0.81, Z:0.02 [[ 9.98366774e-01 -5.71295389e-02 0.00000000e+00 1.09892018e+02] [ 5.71295389e-02 9.98366774e-01 0.00000000e+00 8.12805213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06346004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.92, Y:0.82, Z:0.02 [[ 9.98356382e-01 -5.73108575e-02 0.00000000e+00 1.09919260e+02] [ 5.73108575e-02 9.98356382e-01 0.00000000e+00 8.17456252e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11521580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.95, Y:0.82, Z:0.02 [[ 9.98319256e-01 -5.79539748e-02 0.00000000e+00 1.09946679e+02] [ 5.79539748e-02 9.98319256e-01 0.00000000e+00 8.24628799e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87984854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.97, Y:0.83, Z:0.02 [[ 9.98271720e-01 -5.87671158e-02 0.00000000e+00 1.09974168e+02] [ 5.87671158e-02 9.98271720e-01 0.00000000e+00 8.27902193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04311272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.00, Y:0.83, Z:0.02 [[ 9.98143114e-01 -6.09124308e-02 0.00000000e+00 1.10001980e+02] [ 6.09124308e-02 9.98143114e-01 0.00000000e+00 8.25051693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93517254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.03, Y:0.83, Z:0.02 [[ 9.98001643e-01 -6.31879760e-02 0.00000000e+00 1.10031244e+02] [ 6.31879760e-02 9.98001643e-01 0.00000000e+00 8.25956490e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37902081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.06, Y:0.83, Z:0.03 [[ 9.97946393e-01 -6.40546431e-02 0.00000000e+00 1.10059374e+02] [ 6.40546431e-02 9.97946393e-01 0.00000000e+00 8.29914934e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51676617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.09, Y:0.83, Z:0.02 [[ 9.97837260e-01 -6.57328095e-02 0.00000000e+00 1.10087015e+02] [ 6.57328095e-02 9.97837260e-01 0.00000000e+00 8.29478041e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30174123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.12, Y:0.83, Z:0.02 [[ 9.97715566e-01 -6.75547922e-02 0.00000000e+00 1.10116760e+02] [ 6.75547922e-02 9.97715566e-01 0.00000000e+00 8.27801525e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19235522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.15, Y:0.83, Z:0.02 [[ 9.97678554e-01 -6.80992120e-02 0.00000000e+00 1.10145418e+02] [ 6.80992120e-02 9.97678554e-01 0.00000000e+00 8.30533040e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02419741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.17, Y:0.83, Z:0.02 [[ 9.97765760e-01 -6.68093367e-02 0.00000000e+00 1.10173757e+02] [ 6.68093367e-02 9.97765760e-01 0.00000000e+00 8.31089584e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06084989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.20, Y:0.83, Z:0.02 [[ 9.97889364e-01 -6.49370184e-02 0.00000000e+00 1.10201518e+02] [ 6.49370184e-02 9.97889364e-01 0.00000000e+00 8.31427784e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20232318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.23, Y:0.83, Z:0.02 [[ 9.98197637e-01 -6.00123149e-02 0.00000000e+00 1.10228737e+02] [ 6.00123149e-02 9.98197637e-01 0.00000000e+00 8.31469512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32632151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.26, Y:0.84, Z:0.03 [[ 9.98619861e-01 -5.25202168e-02 0.00000000e+00 1.10255561e+02] [ 5.25202168e-02 9.98619861e-01 0.00000000e+00 8.39243162e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52291822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.28, Y:0.85, Z:0.03 [[ 9.98824240e-01 -4.84782163e-02 0.00000000e+00 1.10282338e+02] [ 4.84782163e-02 9.98824240e-01 0.00000000e+00 8.46388637e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54355100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.31, Y:0.85, Z:0.02 [[ 9.99122879e-01 -4.18744755e-02 0.00000000e+00 1.10310544e+02] [ 4.18744755e-02 9.99122879e-01 0.00000000e+00 8.54345984e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05143853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.34, Y:0.86, Z:0.02 [[ 9.99202798e-01 -3.99220280e-02 0.00000000e+00 1.10339255e+02] [ 3.99220280e-02 9.99202798e-01 0.00000000e+00 8.57665688e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96797260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.37, Y:0.86, Z:0.02 [[ 9.99259801e-01 -3.84688150e-02 0.00000000e+00 1.10367359e+02] [ 3.84688150e-02 9.99259801e-01 0.00000000e+00 8.61123719e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21804302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.39, Y:0.87, Z:0.03 [[ 9.99172889e-01 -4.06637210e-02 0.00000000e+00 1.10394789e+02] [ 4.06637210e-02 9.99172889e-01 0.00000000e+00 8.68719837e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54712126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.42, Y:0.87, Z:0.03 [[ 9.99049658e-01 -4.35864771e-02 0.00000000e+00 1.10422347e+02] [ 4.35864771e-02 9.99049658e-01 0.00000000e+00 8.74960410e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63720554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.45, Y:0.88, Z:0.02 [[ 9.98658297e-01 -5.17842314e-02 0.00000000e+00 1.10449429e+02] [ 5.17842314e-02 9.98658297e-01 0.00000000e+00 8.78813311e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46696837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.48, Y:0.88, Z:0.03 [[ 9.98122675e-01 -6.12464413e-02 0.00000000e+00 1.10478543e+02] [ 6.12464413e-02 9.98122675e-01 0.00000000e+00 8.79992761e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78976672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.51, Y:0.88, Z:0.03 [[ 9.97799433e-01 -6.63045324e-02 0.00000000e+00 1.10505967e+02] [ 6.63045324e-02 9.97799433e-01 0.00000000e+00 8.83918483e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03830138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.53, Y:0.89, Z:0.03 [[ 9.97128897e-01 -7.57229399e-02 0.00000000e+00 1.10533599e+02] [ 7.57229399e-02 9.97128897e-01 0.00000000e+00 8.86340123e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61094471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.56, Y:0.89, Z:0.03 [[ 9.96837254e-01 -7.94700537e-02 0.00000000e+00 1.10562009e+02] [ 7.94700537e-02 9.96837254e-01 0.00000000e+00 8.88357745e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51158188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.59, Y:0.89, Z:0.03 [[ 9.96550751e-01 -8.29855427e-02 0.00000000e+00 1.10589494e+02] [ 8.29855427e-02 9.96550751e-01 0.00000000e+00 8.87302522e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62696309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.62, Y:0.89, Z:0.03 [[ 9.96475516e-01 -8.38841185e-02 0.00000000e+00 1.10617787e+02] [ 8.38841185e-02 9.96475516e-01 0.00000000e+00 8.87847248e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67480128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.65, Y:0.89, Z:0.03 [[ 9.96624561e-01 -8.20943579e-02 0.00000000e+00 1.10645960e+02] [ 8.20943579e-02 9.96624561e-01 0.00000000e+00 8.91784975e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77369274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.67, Y:0.89, Z:0.03 [[ 9.96700594e-01 -8.11660365e-02 0.00000000e+00 1.10673962e+02] [ 8.11660365e-02 9.96700594e-01 0.00000000e+00 8.93491235e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81828802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.70, Y:0.89, Z:0.03 [[ 9.96744591e-01 -8.06239410e-02 0.00000000e+00 1.10701648e+02] [ 8.06239410e-02 9.96744591e-01 0.00000000e+00 8.94887668e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87628749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.73, Y:0.90, Z:0.02 [[ 9.96867302e-01 -7.90922410e-02 0.00000000e+00 1.10729946e+02] [ 7.90922410e-02 9.96867302e-01 0.00000000e+00 8.95790989e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43051392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.76, Y:0.90, Z:0.02 [[ 9.96853207e-01 -7.92696903e-02 0.00000000e+00 1.10758276e+02] [ 7.92696903e-02 9.96853207e-01 0.00000000e+00 8.99321161e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43051392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.79, Y:0.90, Z:0.02 [[ 9.96876491e-01 -7.89763344e-02 0.00000000e+00 1.10786428e+02] [ 7.89763344e-02 9.96876491e-01 0.00000000e+00 9.00191466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42951414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.81, Y:0.90, Z:0.02 [[ 9.96939900e-01 -7.81718290e-02 0.00000000e+00 1.10813722e+02] [ 7.81718290e-02 9.96939900e-01 0.00000000e+00 9.02433020e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28923108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.84, Y:0.90, Z:0.02 [[ 9.97236788e-01 -7.42885437e-02 0.00000000e+00 1.10843082e+02] [ 7.42885437e-02 9.97236788e-01 0.00000000e+00 9.02721727e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24905074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.87, Y:0.90, Z:0.02 [[ 9.97397825e-01 -7.20942359e-02 0.00000000e+00 1.10870356e+02] [ 7.20942359e-02 9.97397825e-01 0.00000000e+00 9.03553732e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33282088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.90, Y:0.91, Z:0.02 [[ 9.97707824e-01 -6.76690315e-02 0.00000000e+00 1.10897310e+02] [ 6.76690315e-02 9.97707824e-01 0.00000000e+00 9.08824469e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39084420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.92, Y:0.92, Z:0.02 [[ 9.98083373e-01 -6.18836040e-02 0.00000000e+00 1.10924960e+02] [ 6.18836040e-02 9.98083373e-01 0.00000000e+00 9.16235783e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27702721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.95, Y:0.92, Z:0.02 [[ 9.98209762e-01 -5.98102870e-02 0.00000000e+00 1.10952771e+02] [ 5.98102870e-02 9.98209762e-01 0.00000000e+00 9.18476764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29649352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.98, Y:0.92, Z:0.03 [[ 9.98355354e-01 -5.73287554e-02 0.00000000e+00 1.10982423e+02] [ 5.73287554e-02 9.98355354e-01 0.00000000e+00 9.17117433e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84972464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.01, Y:0.92, Z:0.03 [[ 9.98335465e-01 -5.76740826e-02 0.00000000e+00 1.11010402e+02] [ 5.76740826e-02 9.98335465e-01 0.00000000e+00 9.17403119e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00710978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.04, Y:0.92, Z:0.03 [[ 9.98222866e-01 -5.95911845e-02 0.00000000e+00 1.11039697e+02] [ 5.95911845e-02 9.98222866e-01 0.00000000e+00 9.17543087e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78122113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.07, Y:0.92, Z:0.03 [[ 9.98169421e-01 -6.04798013e-02 0.00000000e+00 1.11066781e+02] [ 6.04798013e-02 9.98169421e-01 0.00000000e+00 9.21608796e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54550828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.09, Y:0.93, Z:0.02 [[ 9.98161621e-01 -6.06084073e-02 0.00000000e+00 1.11094530e+02] [ 6.06084073e-02 9.98161621e-01 0.00000000e+00 9.26862227e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38244992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.12, Y:0.93, Z:0.02 [[ 9.98229464e-01 -5.94805611e-02 0.00000000e+00 1.11122687e+02] [ 5.94805611e-02 9.98229464e-01 0.00000000e+00 9.28476313e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46115404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.15, Y:0.93, Z:0.02 [[ 9.98259452e-01 -5.89751400e-02 0.00000000e+00 1.11150904e+02] [ 5.89751400e-02 9.98259452e-01 0.00000000e+00 9.27976711e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38997253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.18, Y:0.93, Z:0.02 [[ 9.98299615e-01 -5.82913283e-02 0.00000000e+00 1.11179031e+02] [ 5.82913283e-02 9.98299615e-01 0.00000000e+00 9.27918175e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47656543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.21, Y:0.93, Z:0.02 [[ 9.98406297e-01 -5.64346230e-02 0.00000000e+00 1.11206154e+02] [ 5.64346230e-02 9.98406297e-01 0.00000000e+00 9.32205412e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49269899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.23, Y:0.94, Z:0.02 [[ 9.98439362e-01 -5.58465853e-02 0.00000000e+00 1.11233122e+02] [ 5.58465853e-02 9.98439362e-01 0.00000000e+00 9.40606535e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30243304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.26, Y:0.95, Z:0.02 [[ 9.98479774e-01 -5.51193311e-02 0.00000000e+00 1.11260885e+02] [ 5.51193311e-02 9.98479774e-01 0.00000000e+00 9.45367943e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35432972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.29, Y:0.95, Z:0.03 [[ 9.98560159e-01 -5.36433544e-02 0.00000000e+00 1.11288950e+02] [ 5.36433544e-02 9.98560159e-01 0.00000000e+00 9.47127150e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73910157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.32, Y:0.95, Z:0.03 [[ 9.98555559e-01 -5.37289122e-02 0.00000000e+00 1.11316654e+02] [ 5.37289122e-02 9.98555559e-01 0.00000000e+00 9.48199842e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87730472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.34, Y:0.95, Z:0.03 [[ 9.98513503e-01 -5.45049046e-02 0.00000000e+00 1.11344144e+02] [ 5.45049046e-02 9.98513503e-01 0.00000000e+00 9.52509678e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79439149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.37, Y:0.97, Z:0.02 [[ 9.98402125e-01 -5.65083805e-02 0.00000000e+00 1.11369827e+02] [ 5.65083805e-02 9.98402125e-01 0.00000000e+00 9.66576774e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31902564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.40, Y:0.97, Z:0.02 [[ 9.98326068e-01 -5.78365168e-02 0.00000000e+00 1.11396911e+02] [ 5.78365168e-02 9.98326068e-01 0.00000000e+00 9.74199016e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10567452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.42, Y:0.97, Z:0.02 [[ 9.98173975e-01 -6.04045972e-02 0.00000000e+00 1.11424560e+02] [ 6.04045972e-02 9.98173975e-01 0.00000000e+00 9.74783197e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27289846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.45, Y:0.97, Z:0.03 [[ 9.98078469e-01 -6.19626551e-02 0.00000000e+00 1.11452540e+02] [ 6.19626551e-02 9.98078469e-01 0.00000000e+00 9.73610693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77056477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.48, Y:0.98, Z:0.03 [[ 9.97865131e-01 -6.53083547e-02 0.00000000e+00 1.11480996e+02] [ 6.53083547e-02 9.97865131e-01 0.00000000e+00 9.75426841e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49989908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.51, Y:0.98, Z:0.04 [[ 9.97737156e-01 -6.72351598e-02 0.00000000e+00 1.11509490e+02] [ 6.72351598e-02 9.97737156e-01 0.00000000e+00 9.83988721e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65317434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.54, Y:1.00, Z:0.03 [[ 9.97516219e-01 -7.04371594e-02 0.00000000e+00 1.11535999e+02] [ 7.04371594e-02 9.97516219e-01 0.00000000e+00 9.98363057e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21117746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.56, Y:1.00, Z:0.03 [[ 9.97409343e-01 -7.19347123e-02 0.00000000e+00 1.11563542e+02] [ 7.19347123e-02 9.97409343e-01 0.00000000e+00 1.00358920e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88507141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.59, Y:1.00, Z:0.03 [[ 9.97268109e-01 -7.38668954e-02 0.00000000e+00 1.11592066e+02] [ 7.38668954e-02 9.97268109e-01 0.00000000e+00 1.00034248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61767219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.62, Y:1.00, Z:0.03 [[ 9.97157044e-01 -7.53513807e-02 0.00000000e+00 1.11620424e+02] [ 7.53513807e-02 9.97157044e-01 0.00000000e+00 1.00116187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53094344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.65, Y:1.01, Z:0.02 [[ 9.97221598e-01 -7.44921734e-02 0.00000000e+00 1.11646703e+02] [ 7.44921734e-02 9.97221598e-01 0.00000000e+00 1.01374622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89317147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:1.02, Z:0.02 [[ 9.97276466e-01 -7.37539822e-02 0.00000000e+00 1.11674395e+02] [ 7.37539822e-02 9.97276466e-01 0.00000000e+00 1.01967165e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89088780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.70, Y:1.02, Z:0.02 [[ 9.97449225e-01 -7.13795799e-02 0.00000000e+00 1.11703350e+02] [ 7.13795799e-02 9.97449225e-01 0.00000000e+00 1.02482045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88971324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.73, Y:1.03, Z:0.02 [[ 9.97508284e-01 -7.05494452e-02 0.00000000e+00 1.11730917e+02] [ 7.05494452e-02 9.97508284e-01 0.00000000e+00 1.03000193e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86432652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.76, Y:1.04, Z:0.02 [[ 9.97635705e-01 -6.87240892e-02 0.00000000e+00 1.11758072e+02] [ 6.87240892e-02 9.97635705e-01 0.00000000e+00 1.03796694e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16058020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.79, Y:1.04, Z:0.03 [[ 9.97677287e-01 -6.81177685e-02 0.00000000e+00 1.11785358e+02] [ 6.81177685e-02 9.97677287e-01 0.00000000e+00 1.04306206e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55085237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.81, Y:1.05, Z:0.03 [[ 9.97563237e-01 -6.97681052e-02 0.00000000e+00 1.11813650e+02] [ 6.97681052e-02 9.97563237e-01 0.00000000e+00 1.04694672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84617373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:1.05, Z:0.03 [[ 9.97381928e-01 -7.23138271e-02 0.00000000e+00 1.11842460e+02] [ 7.23138271e-02 9.97381928e-01 0.00000000e+00 1.05021160e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65174915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.87, Y:1.06, Z:0.03 [[ 9.96961836e-01 -7.78915771e-02 0.00000000e+00 1.11869585e+02] [ 7.78915771e-02 9.96961836e-01 0.00000000e+00 1.05528612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50253354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:1.06, Z:0.03 [[ 9.96545508e-01 -8.30484791e-02 0.00000000e+00 1.11898805e+02] [ 8.30484791e-02 9.96545508e-01 0.00000000e+00 1.05811719e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98055930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.93, Y:1.06, Z:0.03 [[ 9.96364283e-01 -8.51951658e-02 0.00000000e+00 1.11927091e+02] [ 8.51951658e-02 9.96364283e-01 0.00000000e+00 1.05870256e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81996760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.96, Y:1.05, Z:0.03 [[ 9.95937898e-01 -9.00427876e-02 0.00000000e+00 1.11957045e+02] [ 9.00427876e-02 9.95937898e-01 0.00000000e+00 1.05458491e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55881196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.99, Y:1.05, Z:0.03 [[ 9.95696233e-01 -9.26769163e-02 0.00000000e+00 1.11986393e+02] [ 9.26769163e-02 9.95696233e-01 0.00000000e+00 1.05372077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76492048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.01, Y:1.06, Z:0.03 [[ 9.95637617e-01 -9.33045344e-02 0.00000000e+00 1.12014268e+02] [ 9.33045344e-02 9.95637617e-01 0.00000000e+00 1.05556961e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77300304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:1.06, Z:0.03 [[ 9.95474135e-01 -9.50328709e-02 0.00000000e+00 1.12042583e+02] [ 9.50328709e-02 9.95474135e-01 0.00000000e+00 1.05525834e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67023355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.07, Y:1.06, Z:0.03 [[ 9.95432505e-01 -9.54679432e-02 0.00000000e+00 1.12070269e+02] [ 9.54679432e-02 9.95432505e-01 0.00000000e+00 1.05609131e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69147054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:1.05, Z:0.03 [[ 9.95396495e-01 -9.58426760e-02 0.00000000e+00 1.12099617e+02] [ 9.58426760e-02 9.95396495e-01 0.00000000e+00 1.05294847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24637160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.13, Y:1.05, Z:0.03 [[ 9.95504300e-01 -9.47163579e-02 0.00000000e+00 1.12126623e+02] [ 9.47163579e-02 9.95504300e-01 0.00000000e+00 1.05319220e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26433724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:1.05, Z:0.03 [[ 9.96051030e-01 -8.87825730e-02 0.00000000e+00 1.12154699e+02] [ 8.87825730e-02 9.96051030e-01 0.00000000e+00 1.05180940e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71374579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.18, Y:1.05, Z:0.03 [[ 9.96792874e-01 -8.00247797e-02 0.00000000e+00 1.12183231e+02] [ 8.00247797e-02 9.96792874e-01 0.00000000e+00 1.05092320e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77278092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.21, Y:1.05, Z:0.03 [[ 9.97146666e-01 -7.54885901e-02 0.00000000e+00 1.12211513e+02] [ 7.54885901e-02 9.97146666e-01 0.00000000e+00 1.05300695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79379184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.24, Y:1.05, Z:0.03 [[ 9.97766814e-01 -6.67936040e-02 0.00000000e+00 1.12239649e+02] [ 6.67936040e-02 9.97766814e-01 0.00000000e+00 1.05463712e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52357821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.27, Y:1.06, Z:0.03 [[ 9.98129085e-01 -6.11418878e-02 0.00000000e+00 1.12267101e+02] [ 6.11418878e-02 9.98129085e-01 0.00000000e+00 1.05952171e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71657359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.30, Y:1.06, Z:0.03 [[ 9.98189328e-01 -6.01503653e-02 0.00000000e+00 1.12295028e+02] [ 6.01503653e-02 9.98189328e-01 0.00000000e+00 1.06332536e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59835789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.32, Y:1.06, Z:0.02 [[ 9.98139503e-01 -6.09715690e-02 0.00000000e+00 1.12324734e+02] [ 6.09715690e-02 9.98139503e-01 0.00000000e+00 1.06192272e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09158841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.35, Y:1.06, Z:0.02 [[ 9.98052910e-01 -6.23729774e-02 0.00000000e+00 1.12353262e+02] [ 6.23729774e-02 9.98052910e-01 0.00000000e+00 1.06144368e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95909406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.38, Y:1.06, Z:0.02 [[ 9.97839625e-01 -6.56968997e-02 0.00000000e+00 1.12381975e+02] [ 6.56968997e-02 9.97839625e-01 0.00000000e+00 1.05699853e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26237202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.41, Y:1.06, Z:0.02 [[ 9.97735751e-01 -6.72560071e-02 0.00000000e+00 1.12410641e+02] [ 6.72560071e-02 9.97735751e-01 0.00000000e+00 1.05741399e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39119332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.44, Y:1.06, Z:0.02 [[ 9.97629449e-01 -6.88148448e-02 0.00000000e+00 1.12439346e+02] [ 6.88148448e-02 9.97629449e-01 0.00000000e+00 1.05878503e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27086906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.47, Y:1.06, Z:0.02 [[ 9.97739102e-01 -6.72062795e-02 0.00000000e+00 1.12466518e+02] [ 6.72062795e-02 9.97739102e-01 0.00000000e+00 1.06494147e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54987179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.49, Y:1.07, Z:0.01 [[ 9.97845725e-01 -6.56041813e-02 0.00000000e+00 1.12494689e+02] [ 6.56041813e-02 9.97845725e-01 0.00000000e+00 1.06895355e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46683026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.52, Y:1.07, Z:0.01 [[ 9.97833875e-01 -6.57841842e-02 0.00000000e+00 1.12523002e+02] [ 6.57841842e-02 9.97833875e-01 0.00000000e+00 1.07269055e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46683026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.55, Y:1.07, Z:0.02 [[ 9.98079425e-01 -6.19472528e-02 0.00000000e+00 1.12551104e+02] [ 6.19472528e-02 9.98079425e-01 0.00000000e+00 1.07313068e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68657674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.58, Y:1.07, Z:0.02 [[ 9.98179902e-01 -6.03065824e-02 0.00000000e+00 1.12579275e+02] [ 6.03065824e-02 9.98179902e-01 0.00000000e+00 1.07394199e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14796181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.61, Y:1.08, Z:0.02 [[ 9.98352134e-01 -5.73848035e-02 0.00000000e+00 1.12607443e+02] [ 5.73848035e-02 9.98352134e-01 0.00000000e+00 1.07663096e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47865534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.63, Y:1.08, Z:0.02 [[ 9.98400729e-01 -5.65330350e-02 0.00000000e+00 1.12634719e+02] [ 5.65330350e-02 9.98400729e-01 0.00000000e+00 1.08284349e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35934829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.66, Y:1.09, Z:0.02 [[ 9.98358852e-01 -5.72678199e-02 0.00000000e+00 1.12661269e+02] [ 5.72678199e-02 9.98358852e-01 0.00000000e+00 1.09304997e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99867926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.69, Y:1.10, Z:0.02 [[ 9.98282415e-01 -5.85851448e-02 0.00000000e+00 1.12689408e+02] [ 5.85851448e-02 9.98282415e-01 0.00000000e+00 1.10336677e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01024691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.72, Y:1.11, Z:0.02 [[ 9.98242037e-01 -5.92691802e-02 0.00000000e+00 1.12716391e+02] [ 5.92691802e-02 9.98242037e-01 0.00000000e+00 1.10899001e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03857162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.74, Y:1.11, Z:0.03 [[ 9.98052979e-01 -6.23718835e-02 0.00000000e+00 1.12744012e+02] [ 6.23718835e-02 9.98052979e-01 0.00000000e+00 1.11190378e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67695012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.77, Y:1.12, Z:0.03 [[ 9.97906537e-01 -6.46725918e-02 0.00000000e+00 1.12771597e+02] [ 6.46725918e-02 9.97906537e-01 0.00000000e+00 1.11536018e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94708194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.80, Y:1.12, Z:0.03 [[ 9.97685599e-01 -6.79959160e-02 0.00000000e+00 1.12798569e+02] [ 6.79959160e-02 9.97685599e-01 0.00000000e+00 1.12084143e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67124392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.83, Y:1.13, Z:0.03 [[ 9.97558853e-01 -6.98307602e-02 0.00000000e+00 1.12826288e+02] [ 6.98307602e-02 9.97558853e-01 0.00000000e+00 1.12711939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52904835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.85, Y:1.14, Z:0.02 [[ 9.97213367e-01 -7.46022767e-02 0.00000000e+00 1.12852764e+02] [ 7.46022767e-02 9.97213367e-01 0.00000000e+00 1.13756981e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49500739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.88, Y:1.14, Z:0.03 [[ 9.96983039e-01 -7.76197096e-02 0.00000000e+00 1.12880293e+02] [ 7.76197096e-02 9.96983039e-01 0.00000000e+00 1.14171492e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54247801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.91, Y:1.14, Z:0.02 [[ 9.96442364e-01 -8.42770168e-02 0.00000000e+00 1.12908703e+02] [ 8.42770168e-02 9.96442364e-01 0.00000000e+00 1.13932770e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19362973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.94, Y:1.14, Z:0.02 [[ 9.95843455e-01 -9.10813496e-02 0.00000000e+00 1.12938109e+02] [ 9.10813496e-02 9.95843455e-01 0.00000000e+00 1.14031046e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10752886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.97, Y:1.14, Z:0.02 [[ 9.95594349e-01 -9.37650881e-02 0.00000000e+00 1.12966948e+02] [ 9.37650881e-02 9.95594349e-01 0.00000000e+00 1.14475644e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29319890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.00, Y:1.15, Z:0.03 [[ 9.95410613e-01 -9.56959309e-02 0.00000000e+00 1.12995688e+02] [ 9.56959309e-02 9.95410613e-01 0.00000000e+00 1.15092402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59621996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.02, Y:1.15, Z:0.03 [[ 9.95408749e-01 -9.57153210e-02 0.00000000e+00 1.13022694e+02] [ 9.57153210e-02 9.95408749e-01 0.00000000e+00 1.15405015e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63690510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.05, Y:1.15, Z:0.03 [[ 9.95412775e-01 -9.56734445e-02 0.00000000e+00 1.13051696e+02] [ 9.56734445e-02 9.95412775e-01 0.00000000e+00 1.15171616e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92884098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.08, Y:1.15, Z:0.03 [[ 9.95457245e-01 -9.52096332e-02 0.00000000e+00 1.13079830e+02] [ 9.52096332e-02 9.95457245e-01 0.00000000e+00 1.15204684e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09187222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.11, Y:1.15, Z:0.03 [[ 9.95578875e-01 -9.39292462e-02 0.00000000e+00 1.13108270e+02] [ 9.39292462e-02 9.95578875e-01 0.00000000e+00 1.15270190e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12139811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.14, Y:1.16, Z:0.03 [[ 9.95768746e-01 -9.18945291e-02 0.00000000e+00 1.13135606e+02] [ 9.18945291e-02 9.95768746e-01 0.00000000e+00 1.15581130e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60065663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.16, Y:1.16, Z:0.02 [[ 9.95884227e-01 -9.06344669e-02 0.00000000e+00 1.13163373e+02] [ 9.06344669e-02 9.95884227e-01 0.00000000e+00 1.15938690e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33572124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.19, Y:1.16, Z:0.02 [[ 9.96176032e-01 -8.73688369e-02 0.00000000e+00 1.13190726e+02] [ 8.73688369e-02 9.96176032e-01 0.00000000e+00 1.16273259e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06859356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.22, Y:1.17, Z:0.02 [[ 9.96429128e-01 -8.44333631e-02 0.00000000e+00 1.13218590e+02] [ 8.44333631e-02 9.96429128e-01 0.00000000e+00 1.16757736e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14613458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:1.17, Z:0.03 [[ 9.97049022e-01 -7.67674971e-02 0.00000000e+00 1.13247308e+02] [ 7.67674971e-02 9.97049022e-01 0.00000000e+00 1.17317986e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59198104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.28, Y:1.18, Z:0.03 [[ 9.97314412e-01 -7.32390840e-02 0.00000000e+00 1.13275899e+02] [ 7.32390840e-02 9.97314412e-01 0.00000000e+00 1.17657286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97642462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.30, Y:1.18, Z:0.03 [[ 9.97692521e-01 -6.78942764e-02 0.00000000e+00 1.13303328e+02] [ 6.78942764e-02 9.97692521e-01 0.00000000e+00 1.18262418e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31143975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.33, Y:1.19, Z:0.03 [[ 9.97763814e-01 -6.68383937e-02 0.00000000e+00 1.13330633e+02] [ 6.68383937e-02 9.97763814e-01 0.00000000e+00 1.19122565e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19772394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.36, Y:1.20, Z:0.03 [[ 9.97730244e-01 -6.73376592e-02 0.00000000e+00 1.13356033e+02] [ 6.73376592e-02 9.97730244e-01 0.00000000e+00 1.20348915e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69862622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.38, Y:1.21, Z:0.03 [[ 9.97444974e-01 -7.14389469e-02 0.00000000e+00 1.13384530e+02] [ 7.14389469e-02 9.97444974e-01 0.00000000e+00 1.21077791e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16197799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.41, Y:1.21, Z:0.03 [[ 9.97201196e-01 -7.47647900e-02 0.00000000e+00 1.13411987e+02] [ 7.47647900e-02 9.97201196e-01 0.00000000e+00 1.21493227e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37151901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.44, Y:1.22, Z:0.04 [[ 9.96583749e-01 -8.25883279e-02 0.00000000e+00 1.13439670e+02] [ 8.25883279e-02 9.96583749e-01 0.00000000e+00 1.21843153e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77555072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.47, Y:1.22, Z:0.04 [[ 9.96218550e-01 -8.68826883e-02 0.00000000e+00 1.13468342e+02] [ 8.68826883e-02 9.96218550e-01 0.00000000e+00 1.22374461e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14372061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.50, Y:1.23, Z:0.04 [[ 9.95588118e-01 -9.38312322e-02 0.00000000e+00 1.13495141e+02] [ 9.38312322e-02 9.95588118e-01 0.00000000e+00 1.23263582e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18660077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.52, Y:1.24, Z:0.04 [[ 9.95280349e-01 -9.70413641e-02 0.00000000e+00 1.13523111e+02] [ 9.70413641e-02 9.95280349e-01 0.00000000e+00 1.23677836e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01350538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.55, Y:1.24, Z:0.04 [[ 9.94554295e-01 -1.04219739e-01 0.00000000e+00 1.13552022e+02] [ 1.04219739e-01 9.94554295e-01 0.00000000e+00 1.23653053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91897644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.58, Y:1.24, Z:0.04 [[ 9.93840889e-01 -1.10816459e-01 0.00000000e+00 1.13579146e+02] [ 1.10816459e-01 9.93840889e-01 0.00000000e+00 1.24036634e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83276392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.61, Y:1.25, Z:0.04 [[ 9.93666399e-01 -1.12370315e-01 0.00000000e+00 1.13607671e+02] [ 1.12370315e-01 9.93666399e-01 0.00000000e+00 1.24521945e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68373925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.64, Y:1.24, Z:0.04 [[ 9.93557195e-01 -1.13331812e-01 0.00000000e+00 1.13635666e+02] [ 1.13331812e-01 9.93557195e-01 0.00000000e+00 1.24485026e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52693326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.66, Y:1.24, Z:0.04 [[ 9.93686582e-01 -1.12191697e-01 0.00000000e+00 1.13664690e+02] [ 1.12191697e-01 9.93686582e-01 0.00000000e+00 1.24149374e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26599063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.69, Y:1.25, Z:0.04 [[ 9.93874109e-01 -1.10518122e-01 0.00000000e+00 1.13692429e+02] [ 1.10518122e-01 9.93874109e-01 0.00000000e+00 1.24593987e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48453066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.72, Y:1.25, Z:0.05 [[ 9.94151790e-01 -1.07991754e-01 0.00000000e+00 1.13720031e+02] [ 1.07991754e-01 9.94151790e-01 0.00000000e+00 1.25333839e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57480832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.75, Y:1.26, Z:0.05 [[ 9.94990387e-01 -9.99706419e-02 0.00000000e+00 1.13748129e+02] [ 9.99706419e-02 9.94990387e-01 0.00000000e+00 1.26350500e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51857117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.78, Y:1.27, Z:0.05 [[ 9.95408082e-01 -9.57222575e-02 0.00000000e+00 1.13776213e+02] [ 9.57222575e-02 9.95408082e-01 0.00000000e+00 1.26702426e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55640254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.80, Y:1.27, Z:0.05 [[ 9.96135018e-01 -8.78352217e-02 0.00000000e+00 1.13804504e+02] [ 8.78352217e-02 9.96135018e-01 0.00000000e+00 1.26670873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83821420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.83, Y:1.27, Z:0.05 [[ 9.96670639e-01 -8.15330490e-02 0.00000000e+00 1.13831445e+02] [ 8.15330490e-02 9.96670639e-01 0.00000000e+00 1.27388783e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72183439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.86, Y:1.28, Z:0.04 [[ 9.96888552e-01 -7.88239522e-02 0.00000000e+00 1.13858126e+02] [ 7.88239522e-02 9.96888552e-01 0.00000000e+00 1.28088069e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46504683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.89, Y:1.29, Z:0.05 [[ 9.97184427e-01 -7.49881229e-02 0.00000000e+00 1.13886717e+02] [ 7.49881229e-02 9.97184427e-01 0.00000000e+00 1.28653218e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62135419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.91, Y:1.29, Z:0.05 [[ 9.97292244e-01 -7.35403306e-02 0.00000000e+00 1.13914867e+02] [ 7.35403306e-02 9.97292244e-01 0.00000000e+00 1.29051635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83632089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.94, Y:1.30, Z:0.05 [[ 9.97414356e-01 -7.18651666e-02 0.00000000e+00 1.13940808e+02] [ 7.18651666e-02 9.97414356e-01 0.00000000e+00 1.29828365e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60506679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.97, Y:1.30, Z:0.04 [[ 9.97449582e-01 -7.13745852e-02 0.00000000e+00 1.13966907e+02] [ 7.13745852e-02 9.97449582e-01 0.00000000e+00 1.30435605e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33964814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.00, Y:1.31, Z:0.05 [[ 9.97412712e-01 -7.18879818e-02 0.00000000e+00 1.13995059e+02] [ 7.18879818e-02 9.97412712e-01 0.00000000e+00 1.31010729e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73253845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.02, Y:1.31, Z:0.05 [[ 9.97339087e-01 -7.29023040e-02 0.00000000e+00 1.14023006e+02] [ 7.29023040e-02 9.97339087e-01 0.00000000e+00 1.31239647e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74543258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.05, Y:1.32, Z:0.05 [[ 9.97306583e-01 -7.33456146e-02 0.00000000e+00 1.14050510e+02] [ 7.33456146e-02 9.97306583e-01 0.00000000e+00 1.31540755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64266439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.08, Y:1.32, Z:0.05 [[ 9.97301970e-01 -7.34083190e-02 0.00000000e+00 1.14076907e+02] [ 7.34083190e-02 9.97301970e-01 0.00000000e+00 1.32301179e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54915914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.10, Y:1.33, Z:0.04 [[ 9.97328056e-01 -7.30530512e-02 0.00000000e+00 1.14103350e+02] [ 7.30530512e-02 9.97328056e-01 0.00000000e+00 1.33117107e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39827555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.13, Y:1.34, Z:0.04 [[ 9.97400152e-01 -7.20620385e-02 0.00000000e+00 1.14131221e+02] [ 7.20620385e-02 9.97400152e-01 0.00000000e+00 1.33914019e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74490433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.16, Y:1.34, Z:0.04 [[ 9.97427627e-01 -7.16807433e-02 0.00000000e+00 1.14159731e+02] [ 7.16807433e-02 9.97427627e-01 0.00000000e+00 1.34226640e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58244526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.19, Y:1.35, Z:0.04 [[ 9.97405442e-01 -7.19887781e-02 0.00000000e+00 1.14187960e+02] [ 7.19887781e-02 9.97405442e-01 0.00000000e+00 1.34941164e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98404203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.22, Y:1.36, Z:0.04 [[ 9.97369372e-01 -7.24868010e-02 0.00000000e+00 1.14215443e+02] [ 7.24868010e-02 9.97369372e-01 0.00000000e+00 1.35821396e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19482107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.24, Y:1.37, Z:0.04 [[ 9.97392673e-01 -7.21654713e-02 0.00000000e+00 1.14242006e+02] [ 7.21654713e-02 9.97392673e-01 0.00000000e+00 1.37115870e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71310318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.27, Y:1.38, Z:0.03 [[ 9.97480585e-01 -7.09399940e-02 0.00000000e+00 1.14269873e+02] [ 7.09399940e-02 9.97480585e-01 0.00000000e+00 1.38167733e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04179874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.30, Y:1.39, Z:0.03 [[ 9.97468178e-01 -7.11142280e-02 0.00000000e+00 1.14298138e+02] [ 7.11142280e-02 9.97468178e-01 0.00000000e+00 1.38565570e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04179874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.33, Y:1.39, Z:0.03 [[ 9.97491562e-01 -7.07854791e-02 0.00000000e+00 1.14325746e+02] [ 7.07854791e-02 9.97491562e-01 0.00000000e+00 1.39297779e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99913858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.35, Y:1.40, Z:0.03 [[ 9.97483753e-01 -7.08954329e-02 0.00000000e+00 1.14352381e+02] [ 7.08954329e-02 9.97483753e-01 0.00000000e+00 1.40452887e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38865042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.38, Y:1.41, Z:0.04 [[ 9.97413602e-01 -7.18756265e-02 0.00000000e+00 1.14379533e+02] [ 7.18756265e-02 9.97413602e-01 0.00000000e+00 1.41278317e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61646587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.41, Y:1.43, Z:0.03 [[ 9.97212798e-01 -7.46098823e-02 0.00000000e+00 1.14406824e+02] [ 7.46098823e-02 9.97212798e-01 0.00000000e+00 1.42576456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48099304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.44, Y:1.43, Z:0.03 [[ 9.97072785e-01 -7.64582376e-02 0.00000000e+00 1.14435347e+02] [ 7.64582376e-02 9.97072785e-01 0.00000000e+00 1.43370013e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28655377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.46, Y:1.44, Z:0.03 [[ 9.96670549e-01 -8.15341406e-02 0.00000000e+00 1.14463652e+02] [ 8.15341406e-02 9.96670549e-01 0.00000000e+00 1.44300828e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12378623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.49, Y:1.45, Z:0.03 [[ 9.96192555e-01 -8.71802315e-02 0.00000000e+00 1.14489601e+02] [ 8.71802315e-02 9.96192555e-01 0.00000000e+00 1.45182182e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18915532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.52, Y:1.46, Z:0.03 [[ 9.95984196e-01 -8.95292180e-02 0.00000000e+00 1.14516411e+02] [ 8.95292180e-02 9.95984196e-01 0.00000000e+00 1.45859834e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31366376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.54, Y:1.47, Z:0.04 [[ 9.95550673e-01 -9.42276867e-02 0.00000000e+00 1.14543352e+02] [ 9.42276867e-02 9.95550673e-01 0.00000000e+00 1.47116168e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74389108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.57, Y:1.48, Z:0.04 [[ 9.95313678e-01 -9.66989300e-02 0.00000000e+00 1.14570371e+02] [ 9.66989300e-02 9.95313678e-01 0.00000000e+00 1.47867956e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73190506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.60, Y:1.49, Z:0.04 [[ 9.94851645e-01 -1.01342019e-01 0.00000000e+00 1.14596433e+02] [ 1.01342019e-01 9.94851645e-01 0.00000000e+00 1.48744813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67424096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.62, Y:1.50, Z:0.04 [[ 9.94299471e-01 -1.06623459e-01 0.00000000e+00 1.14624467e+02] [ 1.06623459e-01 9.94299471e-01 0.00000000e+00 1.49725074e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80061353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.65, Y:1.50, Z:0.04 [[ 9.94006881e-01 -1.09317525e-01 0.00000000e+00 1.14651121e+02] [ 1.09317525e-01 9.94006881e-01 0.00000000e+00 1.50283658e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70052827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.68, Y:1.51, Z:0.04 [[ 9.93715745e-01 -1.11933094e-01 0.00000000e+00 1.14678306e+02] [ 1.11933094e-01 9.93715745e-01 0.00000000e+00 1.50714321e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53519543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.71, Y:1.51, Z:0.03 [[ 9.93401622e-01 -1.14687481e-01 0.00000000e+00 1.14707058e+02] [ 1.14687481e-01 9.93401622e-01 0.00000000e+00 1.51159393e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33872072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.74, Y:1.52, Z:0.03 [[ 9.93267135e-01 -1.15846441e-01 0.00000000e+00 1.14735695e+02] [ 1.15846441e-01 9.93267135e-01 0.00000000e+00 1.51632290e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93749293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.76, Y:1.52, Z:0.03 [[ 9.93188426e-01 -1.16519312e-01 0.00000000e+00 1.14763500e+02] [ 1.16519312e-01 9.93188426e-01 0.00000000e+00 1.51898273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78422225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.79, Y:1.52, Z:0.03 [[ 9.93142278e-01 -1.16912001e-01 0.00000000e+00 1.14792026e+02] [ 1.16912001e-01 9.93142278e-01 0.00000000e+00 1.52232601e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91337921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.82, Y:1.53, Z:0.03 [[ 9.93128660e-01 -1.17027623e-01 0.00000000e+00 1.14820054e+02] [ 1.17027623e-01 9.93128660e-01 0.00000000e+00 1.52723225e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90873956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.85, Y:1.53, Z:0.03 [[ 9.93278279e-01 -1.15750855e-01 0.00000000e+00 1.14847583e+02] [ 1.15750855e-01 9.93278279e-01 0.00000000e+00 1.53418156e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10104046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.87, Y:1.54, Z:0.03 [[ 9.93427874e-01 -1.14459860e-01 0.00000000e+00 1.14874984e+02] [ 1.14459860e-01 9.93427874e-01 0.00000000e+00 1.53840210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85468819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.90, Y:1.54, Z:0.03 [[ 9.93792876e-01 -1.11246210e-01 0.00000000e+00 1.14903857e+02] [ 1.11246210e-01 9.93792876e-01 0.00000000e+00 1.53820806e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22600056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.93, Y:1.53, Z:0.04 [[ 9.94217613e-01 -1.07384064e-01 0.00000000e+00 1.14932875e+02] [ 1.07384064e-01 9.94217613e-01 0.00000000e+00 1.53377184e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67647960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.96, Y:1.54, Z:0.04 [[ 9.94402356e-01 -1.05659612e-01 0.00000000e+00 1.14961022e+02] [ 1.05659612e-01 9.94402356e-01 0.00000000e+00 1.53511211e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63049564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.99, Y:1.54, Z:0.03 [[ 9.94672295e-01 -1.03087462e-01 0.00000000e+00 1.14988718e+02] [ 1.03087462e-01 9.94672295e-01 0.00000000e+00 1.54261825e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46290627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.02, Y:1.55, Z:0.03 [[ 9.94743813e-01 -1.02395051e-01 0.00000000e+00 1.15016454e+02] [ 1.02395051e-01 9.94743813e-01 0.00000000e+00 1.54922121e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34605108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.05, Y:1.55, Z:0.03 [[ 9.94820523e-01 -1.01647071e-01 0.00000000e+00 1.15045106e+02] [ 1.01647071e-01 9.94820523e-01 0.00000000e+00 1.54922861e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88852746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.07, Y:1.55, Z:0.03 [[ 9.94818794e-01 -1.01663991e-01 0.00000000e+00 1.15074144e+02] [ 1.01663991e-01 9.94818794e-01 0.00000000e+00 1.54804191e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29565783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.10, Y:1.54, Z:0.04 [[ 9.94936764e-01 -1.00502915e-01 0.00000000e+00 1.15102653e+02] [ 1.00502915e-01 9.94936764e-01 0.00000000e+00 1.54138644e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22054454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.13, Y:1.54, Z:0.04 [[ 9.95011305e-01 -9.97622365e-02 0.00000000e+00 1.15132222e+02] [ 9.97622365e-02 9.95011305e-01 0.00000000e+00 1.54178351e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47418703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.16, Y:1.55, Z:0.04 [[ 9.95327122e-01 -9.65604444e-02 0.00000000e+00 1.15160331e+02] [ 9.65604444e-02 9.95327122e-01 0.00000000e+00 1.54631215e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26286417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.19, Y:1.55, Z:0.04 [[ 9.95541163e-01 -9.43281153e-02 0.00000000e+00 1.15187597e+02] [ 9.43281153e-02 9.95541163e-01 0.00000000e+00 1.55279783e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61871910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.22, Y:1.56, Z:0.03 [[ 9.95927701e-01 -9.01555049e-02 0.00000000e+00 1.15216865e+02] [ 9.01555049e-02 9.95927701e-01 0.00000000e+00 1.55509217e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02470582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.25, Y:1.55, Z:0.03 [[ 9.96092594e-01 -8.83150253e-02 0.00000000e+00 1.15245033e+02] [ 8.83150253e-02 9.96092594e-01 0.00000000e+00 1.55317361e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87411486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.28, Y:1.54, Z:0.03 [[ 9.96369425e-01 -8.51350068e-02 0.00000000e+00 1.15275776e+02] [ 8.51350068e-02 9.96369425e-01 0.00000000e+00 1.54468694e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14069423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.30, Y:1.55, Z:0.03 [[ 9.96658556e-01 -8.16806172e-02 0.00000000e+00 1.15303267e+02] [ 8.16806172e-02 9.96658556e-01 0.00000000e+00 1.54576851e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11141421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.33, Y:1.55, Z:0.03 [[ 9.96791105e-01 -8.00468132e-02 0.00000000e+00 1.15330368e+02] [ 8.00468132e-02 9.96791105e-01 0.00000000e+00 1.55133164e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43765273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.36, Y:1.56, Z:0.03 [[ 9.97076246e-01 -7.64130830e-02 0.00000000e+00 1.15357503e+02] [ 7.64130830e-02 9.97076246e-01 0.00000000e+00 1.55743152e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23268598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.39, Y:1.56, Z:0.04 [[ 9.97228917e-01 -7.43941340e-02 0.00000000e+00 1.15385751e+02] [ 7.43941340e-02 9.97228917e-01 0.00000000e+00 1.56079027e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54551832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.41, Y:1.56, Z:0.04 [[ 9.97609099e-01 -6.91092246e-02 0.00000000e+00 1.15412510e+02] [ 6.91092246e-02 9.97609099e-01 0.00000000e+00 1.56069725e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59454448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.44, Y:1.56, Z:0.04 [[ 9.97730419e-01 -6.73350664e-02 0.00000000e+00 1.15441504e+02] [ 6.73350664e-02 9.97730419e-01 0.00000000e+00 1.56269890e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02673013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.47, Y:1.57, Z:0.04 [[ 9.97927417e-01 -6.43495982e-02 0.00000000e+00 1.15469678e+02] [ 6.43495982e-02 9.97927417e-01 0.00000000e+00 1.56953280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01368374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.50, Y:1.58, Z:0.04 [[ 9.98006472e-01 -6.31116675e-02 0.00000000e+00 1.15495709e+02] [ 6.31116675e-02 9.98006472e-01 0.00000000e+00 1.57813788e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79682334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.52, Y:1.59, Z:0.04 [[ 9.98015381e-01 -6.29706254e-02 0.00000000e+00 1.15523375e+02] [ 6.29706254e-02 9.98015381e-01 0.00000000e+00 1.58726057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04043699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.55, Y:1.59, Z:0.04 [[ 9.97919525e-01 -6.44718691e-02 0.00000000e+00 1.15551095e+02] [ 6.44718691e-02 9.97919525e-01 0.00000000e+00 1.59093813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17836860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.58, Y:1.60, Z:0.04 [[ 9.97564262e-01 -6.97534457e-02 0.00000000e+00 1.15577785e+02] [ 6.97534457e-02 9.97564262e-01 0.00000000e+00 1.59651427e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20358023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.61, Y:1.60, Z:0.04 [[ 9.97151207e-01 -7.54285758e-02 0.00000000e+00 1.15606266e+02] [ 7.54285758e-02 9.97151207e-01 0.00000000e+00 1.60122642e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42618036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.63, Y:1.60, Z:0.04 [[ 9.96960061e-01 -7.79142890e-02 0.00000000e+00 1.15633290e+02] [ 7.79142890e-02 9.96960061e-01 0.00000000e+00 1.60389180e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43417181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.66, Y:1.61, Z:0.04 [[ 9.96629734e-01 -8.20315393e-02 0.00000000e+00 1.15660284e+02] [ 8.20315393e-02 9.96629734e-01 0.00000000e+00 1.60850966e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42003469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.69, Y:1.61, Z:0.04 [[ 9.96486953e-01 -8.37481447e-02 0.00000000e+00 1.15687939e+02] [ 8.37481447e-02 9.96486953e-01 0.00000000e+00 1.61471719e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39401977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.71, Y:1.62, Z:0.04 [[ 9.96216433e-01 -8.69069492e-02 0.00000000e+00 1.15714404e+02] [ 8.69069492e-02 9.96216433e-01 0.00000000e+00 1.62356092e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26105059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.74, Y:1.63, Z:0.04 [[ 9.96109509e-01 -8.81240408e-02 0.00000000e+00 1.15741784e+02] [ 8.81240408e-02 9.96109509e-01 0.00000000e+00 1.63010524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34671661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.77, Y:1.64, Z:0.05 [[ 9.95947685e-01 -8.99344741e-02 0.00000000e+00 1.15768710e+02] [ 8.99344741e-02 9.95947685e-01 0.00000000e+00 1.63591458e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71492141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.80, Y:1.64, Z:0.05 [[ 9.95893965e-01 -9.05273991e-02 0.00000000e+00 1.15796606e+02] [ 9.05273991e-02 9.95893965e-01 0.00000000e+00 1.63941403e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95928843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.82, Y:1.65, Z:0.05 [[ 9.95902052e-01 -9.04383903e-02 0.00000000e+00 1.15822890e+02] [ 9.04383903e-02 9.95902052e-01 0.00000000e+00 1.64794489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79032565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.85, Y:1.66, Z:0.05 [[ 9.95944196e-01 -8.99731022e-02 0.00000000e+00 1.15850275e+02] [ 8.99731022e-02 9.95944196e-01 0.00000000e+00 1.65610882e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63136051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.88, Y:1.66, Z:0.05 [[ 9.95994005e-01 -8.94200272e-02 0.00000000e+00 1.15877140e+02] [ 8.94200272e-02 9.95994005e-01 0.00000000e+00 1.66399140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67587655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.90, Y:1.67, Z:0.05 [[ 9.95954357e-01 -8.98605526e-02 0.00000000e+00 1.15904383e+02] [ 8.98605526e-02 9.95954357e-01 0.00000000e+00 1.66897361e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57182479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.93, Y:1.68, Z:0.04 [[ 9.95816583e-01 -9.13746842e-02 0.00000000e+00 1.15932754e+02] [ 9.13746842e-02 9.95816583e-01 0.00000000e+00 1.67819392e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06993787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.96, Y:1.69, Z:0.04 [[ 9.95643134e-01 -9.32456420e-02 0.00000000e+00 1.15959116e+02] [ 9.32456420e-02 9.95643134e-01 0.00000000e+00 1.68835875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65483807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.99, Y:1.70, Z:0.04 [[ 9.95561209e-01 -9.41163105e-02 0.00000000e+00 1.15987522e+02] [ 9.41163105e-02 9.95561209e-01 0.00000000e+00 1.69576624e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05204022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.01, Y:1.71, Z:0.04 [[ 9.95484723e-01 -9.49218947e-02 0.00000000e+00 1.16014440e+02] [ 9.49218947e-02 9.95484723e-01 0.00000000e+00 1.70530428e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38682813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.04, Y:1.71, Z:0.04 [[ 9.95467295e-01 -9.51044884e-02 0.00000000e+00 1.16042663e+02] [ 9.51044884e-02 9.95467295e-01 0.00000000e+00 1.70950734e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38682813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.07, Y:1.72, Z:0.04 [[ 9.95453272e-01 -9.52511617e-02 0.00000000e+00 1.16070274e+02] [ 9.52511617e-02 9.95453272e-01 0.00000000e+00 1.71515908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43035321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.10, Y:1.72, Z:0.05 [[ 9.95328934e-01 -9.65417728e-02 0.00000000e+00 1.16097991e+02] [ 9.65417728e-02 9.95328934e-01 0.00000000e+00 1.72093221e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51244073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.13, Y:1.73, Z:0.05 [[ 9.95208406e-01 -9.77764201e-02 0.00000000e+00 1.16125630e+02] [ 9.77764201e-02 9.95208406e-01 0.00000000e+00 1.72645256e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63807723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.15, Y:1.73, Z:0.05 [[ 9.94868593e-01 -1.01175500e-01 0.00000000e+00 1.16153475e+02] [ 1.01175500e-01 9.94868593e-01 0.00000000e+00 1.73300698e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92880088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.18, Y:1.74, Z:0.05 [[ 9.94406875e-01 -1.05617080e-01 0.00000000e+00 1.16180571e+02] [ 1.05617080e-01 9.94406875e-01 0.00000000e+00 1.73953723e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50641993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.21, Y:1.74, Z:0.04 [[ 9.94235137e-01 -1.07221695e-01 0.00000000e+00 1.16208727e+02] [ 1.07221695e-01 9.94235137e-01 0.00000000e+00 1.74428596e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05467499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.24, Y:1.75, Z:0.04 [[ 9.94122521e-01 -1.08260853e-01 0.00000000e+00 1.16237008e+02] [ 1.08260853e-01 9.94122521e-01 0.00000000e+00 1.74779100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52774540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.27, Y:1.75, Z:0.03 [[ 9.94137495e-01 -1.08123271e-01 0.00000000e+00 1.16265700e+02] [ 1.08123271e-01 9.94137495e-01 0.00000000e+00 1.74811159e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13755495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.29, Y:1.75, Z:0.03 [[ 9.94229302e-01 -1.07275788e-01 0.00000000e+00 1.16293332e+02] [ 1.07275788e-01 9.94229302e-01 0.00000000e+00 1.75192274e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18534752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.32, Y:1.76, Z:0.04 [[ 9.94538420e-01 -1.04371118e-01 0.00000000e+00 1.16321479e+02] [ 1.04371118e-01 9.94538420e-01 0.00000000e+00 1.76138353e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50876409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.35, Y:1.77, Z:0.03 [[ 9.94718573e-01 -1.02639953e-01 0.00000000e+00 1.16347715e+02] [ 1.02639953e-01 9.94718573e-01 0.00000000e+00 1.76939350e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24928771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.38, Y:1.78, Z:0.03 [[ 9.95207304e-01 -9.77876328e-02 0.00000000e+00 1.16375337e+02] [ 9.77876328e-02 9.95207304e-01 0.00000000e+00 1.77729031e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48724359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.40, Y:1.78, Z:0.04 [[ 9.95673245e-01 -9.29235614e-02 0.00000000e+00 1.16403571e+02] [ 9.29235614e-02 9.95673245e-01 0.00000000e+00 1.77903485e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84034469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.43, Y:1.78, Z:0.04 [[ 9.95756702e-01 -9.20249474e-02 0.00000000e+00 1.16431524e+02] [ 9.20249474e-02 9.95756702e-01 0.00000000e+00 1.78309691e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91375488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.46, Y:1.79, Z:0.04 [[ 9.95691769e-01 -9.27248638e-02 0.00000000e+00 1.16459249e+02] [ 9.27248638e-02 9.95691769e-01 0.00000000e+00 1.79055882e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05085044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.49, Y:1.80, Z:0.04 [[ 9.95591992e-01 -9.37901166e-02 0.00000000e+00 1.16485442e+02] [ 9.37901166e-02 9.95591992e-01 0.00000000e+00 1.79737130e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95748596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.51, Y:1.80, Z:0.04 [[ 9.95309128e-01 -9.67457489e-02 0.00000000e+00 1.16513084e+02] [ 9.67457489e-02 9.95309128e-01 0.00000000e+00 1.80491164e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63140971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.54, Y:1.81, Z:0.03 [[ 9.95167256e-01 -9.81943563e-02 0.00000000e+00 1.16541762e+02] [ 9.81943563e-02 9.95167256e-01 0.00000000e+00 1.80793818e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47873547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.57, Y:1.81, Z:0.04 [[ 9.94908114e-01 -1.00786130e-01 0.00000000e+00 1.16569385e+02] [ 1.00786130e-01 9.94908114e-01 0.00000000e+00 1.80788335e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53598702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.60, Y:1.81, Z:0.04 [[ 9.94776128e-01 -1.02080628e-01 0.00000000e+00 1.16596911e+02] [ 1.02080628e-01 9.94776128e-01 0.00000000e+00 1.81138108e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72003810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.62, Y:1.82, Z:0.04 [[ 9.94611650e-01 -1.03670950e-01 0.00000000e+00 1.16623658e+02] [ 1.03670950e-01 9.94611650e-01 0.00000000e+00 1.81915057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51162652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.65, Y:1.83, Z:0.04 [[ 9.94527658e-01 -1.04473618e-01 0.00000000e+00 1.16650718e+02] [ 1.04473618e-01 9.94527658e-01 0.00000000e+00 1.82588029e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71146787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.68, Y:1.83, Z:0.04 [[ 9.94437747e-01 -1.05326004e-01 0.00000000e+00 1.16679256e+02] [ 1.05326004e-01 9.94437747e-01 0.00000000e+00 1.82812386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01839560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.71, Y:1.83, Z:0.04 [[ 9.94162376e-01 -1.07894251e-01 0.00000000e+00 1.16707187e+02] [ 1.07894251e-01 9.94162376e-01 0.00000000e+00 1.82848886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02761497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.74, Y:1.83, Z:0.04 [[ 9.94030651e-01 -1.09101172e-01 0.00000000e+00 1.16735723e+02] [ 1.09101172e-01 9.94030651e-01 0.00000000e+00 1.83312868e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69153593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.76, Y:1.84, Z:0.03 [[ 9.93861950e-01 -1.10627415e-01 0.00000000e+00 1.16763295e+02] [ 1.10627415e-01 9.93861950e-01 0.00000000e+00 1.83835692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25737449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.79, Y:1.84, Z:0.03 [[ 9.93780672e-01 -1.11355176e-01 0.00000000e+00 1.16792549e+02] [ 1.11355176e-01 9.93780672e-01 0.00000000e+00 1.84064016e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34602394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.82, Y:1.84, Z:0.04 [[ 9.93686523e-01 -1.12192215e-01 0.00000000e+00 1.16821982e+02] [ 1.12192215e-01 9.93686523e-01 0.00000000e+00 1.83621430e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80327011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.85, Y:1.84, Z:0.04 [[ 9.93817271e-01 -1.11028070e-01 0.00000000e+00 1.16849292e+02] [ 1.11028070e-01 9.93817271e-01 0.00000000e+00 1.83761373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73811356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.88, Y:1.84, Z:0.04 [[ 9.93911537e-01 -1.10181020e-01 0.00000000e+00 1.16877165e+02] [ 1.10181020e-01 9.93911537e-01 0.00000000e+00 1.84317977e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66138795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.90, Y:1.85, Z:0.03 [[ 9.94267071e-01 -1.06925165e-01 0.00000000e+00 1.16904848e+02] [ 1.06925165e-01 9.94267071e-01 0.00000000e+00 1.84912356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33981472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.93, Y:1.85, Z:0.03 [[ 9.94521607e-01 -1.04531205e-01 0.00000000e+00 1.16933097e+02] [ 1.04531205e-01 9.94521607e-01 0.00000000e+00 1.85210281e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06391438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.96, Y:1.85, Z:0.03 [[ 9.94932768e-01 -1.00542464e-01 0.00000000e+00 1.16961793e+02] [ 1.00542464e-01 9.94932768e-01 0.00000000e+00 1.84788294e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05867324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.99, Y:1.85, Z:0.04 [[ 9.95230442e-01 -9.75518654e-02 0.00000000e+00 1.16990533e+02] [ 9.75518654e-02 9.95230442e-01 0.00000000e+00 1.85002275e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56798120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.02, Y:1.86, Z:0.03 [[ 9.95399664e-01 -9.58097487e-02 0.00000000e+00 1.17017881e+02] [ 9.58097487e-02 9.95399664e-01 0.00000000e+00 1.85778348e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46599971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.04, Y:1.87, Z:0.03 [[ 9.95540410e-01 -9.43360625e-02 0.00000000e+00 1.17044956e+02] [ 9.43360625e-02 9.95540410e-01 0.00000000e+00 1.86536691e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04649244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.07, Y:1.87, Z:0.03 [[ 9.95580857e-01 -9.39082360e-02 0.00000000e+00 1.17073315e+02] [ 9.39082360e-02 9.95580857e-01 0.00000000e+00 1.87110738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66691101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.10, Y:1.87, Z:0.03 [[ 9.95536927e-01 -9.43728100e-02 0.00000000e+00 1.17102888e+02] [ 9.43728100e-02 9.95536927e-01 0.00000000e+00 1.86874658e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26067981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29533619499999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:117.13, Y:1.87, Z:0.04 [[ 9.95528008e-01 -9.44668460e-02 0.00000000e+00 1.17131451e+02] [ 9.44668460e-02 9.95528008e-01 0.00000000e+00 1.86908343e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69305059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.16, Y:1.87, Z:0.04 [[ 9.95481273e-01 -9.49580750e-02 0.00000000e+00 1.17159064e+02] [ 9.49580750e-02 9.95481273e-01 0.00000000e+00 1.87322503e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00209462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.19, Y:1.88, Z:0.04 [[ 9.95470024e-01 -9.50759205e-02 0.00000000e+00 1.17185637e+02] [ 9.50759205e-02 9.95470024e-01 0.00000000e+00 1.87995176e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81976937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.21, Y:1.89, Z:0.04 [[ 9.95423059e-01 -9.55663810e-02 0.00000000e+00 1.17213526e+02] [ 9.55663810e-02 9.95423059e-01 0.00000000e+00 1.88527694e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68781929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.24, Y:1.89, Z:0.04 [[ 9.95271318e-01 -9.71339432e-02 0.00000000e+00 1.17241057e+02] [ 9.71339432e-02 9.95271318e-01 0.00000000e+00 1.88693870e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74915627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.27, Y:1.89, Z:0.04 [[ 9.95152878e-01 -9.83399709e-02 0.00000000e+00 1.17268948e+02] [ 9.83399709e-02 9.95152878e-01 0.00000000e+00 1.88973699e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76075123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.30, Y:1.89, Z:0.04 [[ 9.94788770e-01 -1.01957357e-01 0.00000000e+00 1.17296914e+02] [ 1.01957357e-01 9.94788770e-01 0.00000000e+00 1.89220737e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56632887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.33, Y:1.90, Z:0.03 [[ 9.94660714e-01 -1.03199149e-01 0.00000000e+00 1.17325075e+02] [ 1.03199149e-01 9.94660714e-01 0.00000000e+00 1.89615772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42625561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.35, Y:1.90, Z:0.03 [[ 9.94434311e-01 -1.05358441e-01 0.00000000e+00 1.17353670e+02] [ 1.05358441e-01 9.94434311e-01 0.00000000e+00 1.89714628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97599340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.38, Y:1.90, Z:0.03 [[ 9.94313306e-01 -1.06494363e-01 0.00000000e+00 1.17381884e+02] [ 1.06494363e-01 9.94313306e-01 0.00000000e+00 1.89985018e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33971877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.41, Y:1.90, Z:0.04 [[ 9.94298071e-01 -1.06636509e-01 0.00000000e+00 1.17409321e+02] [ 1.06636509e-01 9.94298071e-01 0.00000000e+00 1.90455667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53504268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.44, Y:1.91, Z:0.04 [[ 9.94339955e-01 -1.06245254e-01 0.00000000e+00 1.17437416e+02] [ 1.06245254e-01 9.94339955e-01 0.00000000e+00 1.90953870e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54737733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.47, Y:1.91, Z:0.03 [[ 9.94417264e-01 -1.05519217e-01 0.00000000e+00 1.17465656e+02] [ 1.05519217e-01 9.94417264e-01 0.00000000e+00 1.91325729e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26729557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.49, Y:1.92, Z:0.03 [[ 9.94523459e-01 -1.04513589e-01 0.00000000e+00 1.17493282e+02] [ 1.04513589e-01 9.94523459e-01 0.00000000e+00 1.91602521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29983957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.52, Y:1.92, Z:0.03 [[ 9.94641531e-01 -1.03383870e-01 0.00000000e+00 1.17522197e+02] [ 1.03383870e-01 9.94641531e-01 0.00000000e+00 1.91973943e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49619631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.55, Y:1.92, Z:0.04 [[ 9.94857401e-01 -1.01285498e-01 0.00000000e+00 1.17550324e+02] [ 1.01285498e-01 9.94857401e-01 0.00000000e+00 1.92456577e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97019562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.58, Y:1.93, Z:0.04 [[ 9.94923577e-01 -1.00633373e-01 0.00000000e+00 1.17578163e+02] [ 1.00633373e-01 9.94923577e-01 0.00000000e+00 1.92915221e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13749033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.61, Y:1.93, Z:0.04 [[ 9.95005310e-01 -9.98220080e-02 0.00000000e+00 1.17606041e+02] [ 9.98220080e-02 9.95005310e-01 0.00000000e+00 1.93314500e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32608865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.63, Y:1.94, Z:0.04 [[ 9.95041987e-01 -9.94557349e-02 0.00000000e+00 1.17634023e+02] [ 9.94557349e-02 9.95041987e-01 0.00000000e+00 1.93787636e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26254575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.66, Y:1.94, Z:0.04 [[ 9.95045478e-01 -9.94208039e-02 0.00000000e+00 1.17661365e+02] [ 9.94208039e-02 9.95045478e-01 0.00000000e+00 1.94313098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96464003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.69, Y:1.95, Z:0.04 [[ 9.94987103e-01 -1.00003327e-01 0.00000000e+00 1.17689276e+02] [ 1.00003327e-01 9.94987103e-01 0.00000000e+00 1.94696692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91840846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.72, Y:1.95, Z:0.04 [[ 9.94829643e-01 -1.01557776e-01 0.00000000e+00 1.17717149e+02] [ 1.01557776e-01 9.94829643e-01 0.00000000e+00 1.95010526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93158237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.74, Y:1.95, Z:0.04 [[ 9.94774581e-01 -1.02095706e-01 0.00000000e+00 1.17743854e+02] [ 1.02095706e-01 9.94774581e-01 0.00000000e+00 1.95455333e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85130466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.77, Y:1.96, Z:0.04 [[ 9.94714603e-01 -1.02678419e-01 0.00000000e+00 1.17772286e+02] [ 1.02678419e-01 9.94714603e-01 0.00000000e+00 1.96163599e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59066353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.80, Y:1.97, Z:0.03 [[ 9.94678194e-01 -1.03030527e-01 0.00000000e+00 1.17799422e+02] [ 1.03030527e-01 9.94678194e-01 0.00000000e+00 1.96671158e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34076847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:1.97, Z:0.03 [[ 9.94659789e-01 -1.03208067e-01 0.00000000e+00 1.17827604e+02] [ 1.03208067e-01 9.94659789e-01 0.00000000e+00 1.97117353e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34076847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:1.98, Z:0.03 [[ 9.94549622e-01 -1.04264324e-01 0.00000000e+00 1.17855385e+02] [ 1.04264324e-01 9.94549622e-01 0.00000000e+00 1.97562114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45953044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.88, Y:1.98, Z:0.04 [[ 9.94410610e-01 -1.05581901e-01 0.00000000e+00 1.17883564e+02] [ 1.05581901e-01 9.94410610e-01 0.00000000e+00 1.98007710e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56257623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:1.98, Z:0.04 [[ 9.93987227e-01 -1.09496086e-01 0.00000000e+00 1.17911124e+02] [ 1.09496086e-01 9.93987227e-01 0.00000000e+00 1.98465511e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62146945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.165336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.94, Y:1.99, Z:0.04 [[ 9.93555393e-01 -1.13347612e-01 0.00000000e+00 1.17939067e+02] [ 1.13347612e-01 9.93555393e-01 0.00000000e+00 1.99106392e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15144711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.97, Y:2.00, Z:0.04 [[ 9.93488993e-01 -1.13928139e-01 0.00000000e+00 1.17966990e+02] [ 1.13928139e-01 9.93488993e-01 0.00000000e+00 1.99594445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38195835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.99, Y:2.00, Z:0.04 [[ 9.93295401e-01 -1.15603835e-01 0.00000000e+00 1.17994770e+02] [ 1.15603835e-01 9.93295401e-01 0.00000000e+00 1.99871935e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33958219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.02, Y:2.00, Z:0.04 [[ 9.93091263e-01 -1.17344546e-01 0.00000000e+00 1.18022237e+02] [ 1.17344546e-01 9.93091263e-01 0.00000000e+00 2.00220322e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31968683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.05, Y:2.01, Z:0.04 [[ 9.92637471e-01 -1.21123286e-01 0.00000000e+00 1.18049564e+02] [ 1.21123286e-01 9.92637471e-01 0.00000000e+00 2.00617431e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28709775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.08, Y:2.01, Z:0.04 [[ 9.92410953e-01 -1.22965446e-01 0.00000000e+00 1.18077354e+02] [ 1.22965446e-01 9.92410953e-01 0.00000000e+00 2.00967139e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33048154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.11, Y:2.01, Z:0.04 [[ 9.92075853e-01 -1.25640368e-01 0.00000000e+00 1.18105068e+02] [ 1.25640368e-01 9.92075853e-01 0.00000000e+00 2.00976103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87110697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:2.01, Z:0.04 [[ 9.91772088e-01 -1.28016110e-01 0.00000000e+00 1.18133179e+02] [ 1.28016110e-01 9.91772088e-01 0.00000000e+00 2.01106772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80287308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.16, Y:2.01, Z:0.04 [[ 9.91641108e-01 -1.29026793e-01 0.00000000e+00 1.18161354e+02] [ 1.29026793e-01 9.91641108e-01 0.00000000e+00 2.01402591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80590299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:2.02, Z:0.04 [[ 9.91586114e-01 -1.29448747e-01 0.00000000e+00 1.18189825e+02] [ 1.29448747e-01 9.91586114e-01 0.00000000e+00 2.01552747e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97082805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.22, Y:2.02, Z:0.04 [[ 9.91662442e-01 -1.28862725e-01 0.00000000e+00 1.18217973e+02] [ 1.28862725e-01 9.91662442e-01 0.00000000e+00 2.01868005e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15772098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.25, Y:2.02, Z:0.04 [[ 9.92069600e-01 -1.25689728e-01 0.00000000e+00 1.18246154e+02] [ 1.25689728e-01 9.92069600e-01 0.00000000e+00 2.02079109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21466867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.27, Y:2.02, Z:0.04 [[ 9.92309832e-01 -1.23778827e-01 0.00000000e+00 1.18273996e+02] [ 1.23778827e-01 9.92309832e-01 0.00000000e+00 2.02362393e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08137273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.30, Y:2.02, Z:0.04 [[ 9.92709048e-01 -1.20535245e-01 0.00000000e+00 1.18302240e+02] [ 1.20535245e-01 9.92709048e-01 0.00000000e+00 2.02279537e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27979436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.33, Y:2.03, Z:0.04 [[ 9.92844734e-01 -1.19412451e-01 0.00000000e+00 1.18330334e+02] [ 1.19412451e-01 9.92844734e-01 0.00000000e+00 2.02522095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45362187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.36, Y:2.03, Z:0.04 [[ 9.92842596e-01 -1.19430229e-01 0.00000000e+00 1.18358004e+02] [ 1.19430229e-01 9.92842596e-01 0.00000000e+00 2.02783300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22208189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:2.03, Z:0.04 [[ 9.92659207e-01 -1.20945020e-01 0.00000000e+00 1.18386527e+02] [ 1.20945020e-01 9.92659207e-01 0.00000000e+00 2.03110046e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64917417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:2.03, Z:0.04 [[ 9.92563903e-01 -1.21724680e-01 0.00000000e+00 1.18414896e+02] [ 1.21724680e-01 9.92563903e-01 0.00000000e+00 2.03344646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52686943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.44, Y:2.02, Z:0.04 [[ 9.92273658e-01 -1.24068478e-01 0.00000000e+00 1.18443573e+02] [ 1.24068478e-01 9.92273658e-01 0.00000000e+00 2.02493207e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65047636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.47, Y:2.02, Z:0.04 [[ 9.92123732e-01 -1.25261725e-01 0.00000000e+00 1.18471998e+02] [ 1.25261725e-01 9.92123732e-01 0.00000000e+00 2.02195892e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71653732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.50, Y:2.02, Z:0.04 [[ 9.91912558e-01 -1.26923119e-01 0.00000000e+00 1.18501567e+02] [ 1.26923119e-01 9.91912558e-01 0.00000000e+00 2.02075647e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72460995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.53, Y:2.03, Z:0.03 [[ 9.91891360e-01 -1.27088668e-01 0.00000000e+00 1.18529218e+02] [ 1.27088668e-01 9.91891360e-01 0.00000000e+00 2.02507705e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45732099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.56, Y:2.03, Z:0.02 [[ 9.91925293e-01 -1.26823552e-01 0.00000000e+00 1.18556994e+02] [ 1.26823552e-01 9.91925293e-01 0.00000000e+00 2.02569967e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45733484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.59, Y:2.02, Z:0.03 [[ 9.92059067e-01 -1.25772839e-01 0.00000000e+00 1.18586731e+02] [ 1.25772839e-01 9.92059067e-01 0.00000000e+00 2.01980016e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89783213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.62, Y:2.02, Z:0.03 [[ 9.92127084e-01 -1.25235178e-01 0.00000000e+00 1.18616174e+02] [ 1.25235178e-01 9.92127084e-01 0.00000000e+00 2.01636094e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37073343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.65, Y:2.01, Z:0.04 [[ 9.92262965e-01 -1.24153972e-01 0.00000000e+00 1.18646924e+02] [ 1.24153972e-01 9.92262965e-01 0.00000000e+00 2.00730503e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92778766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:2.01, Z:0.04 [[ 9.92296110e-01 -1.23888782e-01 0.00000000e+00 1.18675025e+02] [ 1.23888782e-01 9.92296110e-01 0.00000000e+00 2.00842089e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93324685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.70, Y:2.01, Z:0.04 [[ 9.92322640e-01 -1.23676102e-01 0.00000000e+00 1.18703076e+02] [ 1.23676102e-01 9.92322640e-01 0.00000000e+00 2.01115306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74221031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.73, Y:2.01, Z:0.03 [[ 9.92422161e-01 -1.22874957e-01 0.00000000e+00 1.18730644e+02] [ 1.22874957e-01 9.92422161e-01 0.00000000e+00 2.01151193e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14374120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.76, Y:2.00, Z:0.03 [[ 9.92376677e-01 -1.23241759e-01 0.00000000e+00 1.18761324e+02] [ 1.23241759e-01 9.92376677e-01 0.00000000e+00 2.00203876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98589687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:2.00, Z:0.03 [[ 9.92319029e-01 -1.23705070e-01 0.00000000e+00 1.18790438e+02] [ 1.23705070e-01 9.92319029e-01 0.00000000e+00 1.99503704e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15218885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.82, Y:1.98, Z:0.04 [[ 9.92516582e-01 -1.22109927e-01 0.00000000e+00 1.18820553e+02] [ 1.22109927e-01 9.92516582e-01 0.00000000e+00 1.98124565e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81951005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:1.98, Z:0.04 [[ 9.92834015e-01 -1.19501542e-01 0.00000000e+00 1.18848804e+02] [ 1.19501542e-01 9.92834015e-01 0.00000000e+00 1.98316767e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84164609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.88, Y:1.99, Z:0.03 [[ 9.93655099e-01 -1.12470190e-01 0.00000000e+00 1.18876457e+02] [ 1.12470190e-01 9.93655099e-01 0.00000000e+00 1.99034583e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22172071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.90, Y:1.99, Z:0.03 [[ 9.94117699e-01 -1.08305130e-01 0.00000000e+00 1.18904089e+02] [ 1.08305130e-01 9.94117699e-01 0.00000000e+00 1.99308524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67239884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.93, Y:1.98, Z:0.03 [[ 9.94978310e-01 -1.00090775e-01 0.00000000e+00 1.18934934e+02] [ 1.00090775e-01 9.94978310e-01 0.00000000e+00 1.98316059e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81891023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:1.98, Z:0.03 [[ 9.95337773e-01 -9.64506005e-02 0.00000000e+00 1.18963510e+02] [ 9.64506005e-02 9.95337773e-01 0.00000000e+00 1.98045349e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04594797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:1.98, Z:0.03 [[ 9.95982577e-01 -8.95472251e-02 0.00000000e+00 1.18991571e+02] [ 8.95472251e-02 9.95982577e-01 0.00000000e+00 1.98078603e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05189116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:1.99, Z:0.03 [[ 9.96322480e-01 -8.56826494e-02 0.00000000e+00 1.19019810e+02] [ 8.56826494e-02 9.96322480e-01 0.00000000e+00 1.98708080e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28178377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.05, Y:2.00, Z:0.03 [[ 9.96940977e-01 -7.81580951e-02 0.00000000e+00 1.19047396e+02] [ 7.81580951e-02 9.96940977e-01 0.00000000e+00 1.99639492e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37525985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.07, Y:2.00, Z:0.03 [[ 9.97182883e-01 -7.50086469e-02 0.00000000e+00 1.19073691e+02] [ 7.50086469e-02 9.97182883e-01 0.00000000e+00 2.00084402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22626345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:2.00, Z:0.03 [[ 9.97433582e-01 -7.15978358e-02 0.00000000e+00 1.19101620e+02] [ 7.15978358e-02 9.97433582e-01 0.00000000e+00 2.00059734e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16205383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.13, Y:2.00, Z:0.04 [[ 9.97418569e-01 -7.18066788e-02 0.00000000e+00 1.19130539e+02] [ 7.18066788e-02 9.97418569e-01 0.00000000e+00 2.00409794e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52720882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:2.01, Z:0.04 [[ 9.97217687e-01 -7.45445104e-02 0.00000000e+00 1.19158028e+02] [ 7.45445104e-02 9.97217687e-01 0.00000000e+00 2.01224159e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57271809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.19, Y:2.02, Z:0.03 [[ 9.96681411e-01 -8.14012560e-02 0.00000000e+00 1.19185162e+02] [ 8.14012560e-02 9.96681411e-01 0.00000000e+00 2.01918173e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14309898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.21, Y:2.02, Z:0.03 [[ 9.96293854e-01 -8.60148594e-02 0.00000000e+00 1.19212831e+02] [ 8.60148594e-02 9.96293854e-01 0.00000000e+00 2.02455003e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08222555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:2.03, Z:0.03 [[ 9.95900634e-01 -9.04540059e-02 0.00000000e+00 1.19239084e+02] [ 9.04540059e-02 9.95900634e-01 0.00000000e+00 2.02922045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94481190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.27, Y:2.03, Z:0.03 [[ 9.95125699e-01 -9.86146177e-02 0.00000000e+00 1.19268246e+02] [ 9.86146177e-02 9.95125699e-01 0.00000000e+00 2.03023412e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14122062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:2.03, Z:0.03 [[ 9.94747077e-01 -1.02363341e-01 0.00000000e+00 1.19295986e+02] [ 1.02363341e-01 9.94747077e-01 0.00000000e+00 2.03173805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29151350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:2.03, Z:0.03 [[ 9.94083143e-01 -1.08621843e-01 0.00000000e+00 1.19324006e+02] [ 1.08621843e-01 9.94083143e-01 0.00000000e+00 2.03461391e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48042566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.35, Y:2.04, Z:0.03 [[ 9.93534587e-01 -1.13529843e-01 0.00000000e+00 1.19349585e+02] [ 1.13529843e-01 9.93534587e-01 0.00000000e+00 2.04315581e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05616246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.38, Y:2.05, Z:0.03 [[ 9.93286309e-01 -1.15681926e-01 0.00000000e+00 1.19377424e+02] [ 1.15681926e-01 9.93286309e-01 0.00000000e+00 2.05081630e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92081032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:2.06, Z:0.02 [[ 9.93001209e-01 -1.18104183e-01 0.00000000e+00 1.19404590e+02] [ 1.18104183e-01 9.93001209e-01 0.00000000e+00 2.05848631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42048250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:2.06, Z:0.03 [[ 9.92907391e-01 -1.18890342e-01 0.00000000e+00 1.19433354e+02] [ 1.18890342e-01 9.92907391e-01 0.00000000e+00 2.06259583e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66239248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:2.06, Z:0.04 [[ 9.92926859e-01 -1.18727642e-01 0.00000000e+00 1.19461760e+02] [ 1.18727642e-01 9.92926859e-01 0.00000000e+00 2.06363808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60397746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:2.07, Z:0.04 [[ 9.92979664e-01 -1.18285191e-01 0.00000000e+00 1.19489716e+02] [ 1.18285191e-01 9.92979664e-01 0.00000000e+00 2.06792143e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69274508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.52, Y:2.08, Z:0.04 [[ 9.93119181e-01 -1.17108034e-01 0.00000000e+00 1.19516604e+02] [ 1.17108034e-01 9.93119181e-01 0.00000000e+00 2.07769118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60560026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.54, Y:2.09, Z:0.04 [[ 9.93158982e-01 -1.16770018e-01 0.00000000e+00 1.19544729e+02] [ 1.16770018e-01 9.93158982e-01 0.00000000e+00 2.08615999e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84677491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.57, Y:2.10, Z:0.03 [[ 9.93187109e-01 -1.16530541e-01 0.00000000e+00 1.19571698e+02] [ 1.16530541e-01 9.93187109e-01 0.00000000e+00 2.09595766e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26401125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.60, Y:2.10, Z:0.03 [[ 9.93166290e-01 -1.16707842e-01 0.00000000e+00 1.19599870e+02] [ 1.16707842e-01 9.93166290e-01 0.00000000e+00 2.10065453e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26401125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.63, Y:2.10, Z:0.03 [[ 9.93049448e-01 -1.17697890e-01 0.00000000e+00 1.19628725e+02] [ 1.17697890e-01 9.93049448e-01 0.00000000e+00 2.10444808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09218621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.66, Y:2.11, Z:0.03 [[ 9.92850117e-01 -1.19367687e-01 0.00000000e+00 1.19656243e+02] [ 1.19367687e-01 9.92850117e-01 0.00000000e+00 2.10817872e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18914704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.69, Y:2.11, Z:0.04 [[ 9.92494180e-01 -1.22291879e-01 0.00000000e+00 1.19685170e+02] [ 1.22291879e-01 9.92494180e-01 0.00000000e+00 2.11273947e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62211023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.71, Y:2.12, Z:0.04 [[ 9.92377028e-01 -1.23238930e-01 0.00000000e+00 1.19712505e+02] [ 1.23238930e-01 9.92377028e-01 0.00000000e+00 2.11840793e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66585283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.74, Y:2.13, Z:0.04 [[ 9.92153610e-01 -1.25024852e-01 0.00000000e+00 1.19739095e+02] [ 1.25024852e-01 9.92153610e-01 0.00000000e+00 2.12575307e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61522293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.77, Y:2.13, Z:0.04 [[ 9.91924012e-01 -1.26833570e-01 0.00000000e+00 1.19767037e+02] [ 1.26833570e-01 9.91924012e-01 0.00000000e+00 2.12939357e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54430818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:2.13, Z:0.03 [[ 9.91890064e-01 -1.27098781e-01 0.00000000e+00 1.19796018e+02] [ 1.27098781e-01 9.91890064e-01 0.00000000e+00 2.13149197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40720041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.82, Y:2.13, Z:0.03 [[ 9.91945725e-01 -1.26663644e-01 0.00000000e+00 1.19824272e+02] [ 1.26663644e-01 9.91945725e-01 0.00000000e+00 2.13391903e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31295795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.85, Y:2.14, Z:0.04 [[ 9.92171064e-01 -1.24886265e-01 0.00000000e+00 1.19852360e+02] [ 1.24886265e-01 9.92171064e-01 0.00000000e+00 2.14027401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79639056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.88, Y:2.15, Z:0.04 [[ 9.92336008e-01 -1.23568792e-01 0.00000000e+00 1.19880127e+02] [ 1.23568792e-01 9.92336008e-01 0.00000000e+00 2.14814738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93631516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.91, Y:2.16, Z:0.04 [[ 9.92917952e-01 -1.18802106e-01 0.00000000e+00 1.19907925e+02] [ 1.18802106e-01 9.92917952e-01 0.00000000e+00 2.15878862e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99163378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.94, Y:2.16, Z:0.04 [[ 9.93328612e-01 -1.15318119e-01 0.00000000e+00 1.19936609e+02] [ 1.15318119e-01 9.93328612e-01 0.00000000e+00 2.16427778e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14205639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.96, Y:2.17, Z:0.04 [[ 9.94129686e-01 -1.08195041e-01 0.00000000e+00 1.19963845e+02] [ 1.08195041e-01 9.94129686e-01 0.00000000e+00 2.16880333e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08831776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.99, Y:2.18, Z:0.03 [[ 9.94501303e-01 -1.04724198e-01 0.00000000e+00 1.19991801e+02] [ 1.04724198e-01 9.94501303e-01 0.00000000e+00 2.17643454e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45371411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:2.19, Z:0.03 [[ 9.94524917e-01 -1.04499710e-01 0.00000000e+00 1.20018913e+02] [ 1.04499710e-01 9.94524917e-01 0.00000000e+00 2.18514186e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27069000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.05, Y:2.20, Z:0.03 [[ 9.94443258e-01 -1.05273964e-01 0.00000000e+00 1.20045958e+02] [ 1.05273964e-01 9.94443258e-01 0.00000000e+00 2.19808086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49913731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:2.20, Z:0.04 [[ 9.94324520e-01 -1.06389612e-01 0.00000000e+00 1.20073563e+02] [ 1.06389612e-01 9.94324520e-01 0.00000000e+00 2.20416675e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57871914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:2.21, Z:0.04 [[ 9.93842188e-01 -1.10804803e-01 0.00000000e+00 1.20101138e+02] [ 1.10804803e-01 9.93842188e-01 0.00000000e+00 2.20626626e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03482974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:2.21, Z:0.04 [[ 9.93464979e-01 -1.14137357e-01 0.00000000e+00 1.20129046e+02] [ 1.14137357e-01 9.93464979e-01 0.00000000e+00 2.20967979e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24521996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:2.22, Z:0.04 [[ 9.92710847e-01 -1.20520429e-01 0.00000000e+00 1.20157126e+02] [ 1.20520429e-01 9.92710847e-01 0.00000000e+00 2.21749036e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40494368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:2.23, Z:0.04 [[ 9.92388144e-01 -1.23149387e-01 0.00000000e+00 1.20183676e+02] [ 1.23149387e-01 9.92388144e-01 0.00000000e+00 2.22639639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22761073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:2.23, Z:0.04 [[ 9.91919777e-01 -1.26866689e-01 0.00000000e+00 1.20210838e+02] [ 1.26866689e-01 9.91919777e-01 0.00000000e+00 2.23349564e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02511884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.24, Y:2.23, Z:0.04 [[ 9.91753346e-01 -1.28161228e-01 0.00000000e+00 1.20237953e+02] [ 1.28161228e-01 9.91753346e-01 0.00000000e+00 2.23489794e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05109732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.27, Y:2.24, Z:0.04 [[ 9.91594560e-01 -1.29384036e-01 0.00000000e+00 1.20266435e+02] [ 1.29384036e-01 9.91594560e-01 0.00000000e+00 2.23512307e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87715678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:2.24, Z:0.04 [[ 9.91543484e-01 -1.29774877e-01 0.00000000e+00 1.20293364e+02] [ 1.29774877e-01 9.91543484e-01 0.00000000e+00 2.24049080e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61148458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.32, Y:2.25, Z:0.03 [[ 9.91552998e-01 -1.29702169e-01 0.00000000e+00 1.20320767e+02] [ 1.29702169e-01 9.91552998e-01 0.00000000e+00 2.24986680e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43568815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.35, Y:2.26, Z:0.03 [[ 9.91657283e-01 -1.28902420e-01 0.00000000e+00 1.20347746e+02] [ 1.28902420e-01 9.91657283e-01 0.00000000e+00 2.25559692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15730342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.38, Y:2.26, Z:0.03 [[ 9.91663251e-01 -1.28856494e-01 0.00000000e+00 1.20376607e+02] [ 1.28856494e-01 9.91663251e-01 0.00000000e+00 2.25738768e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34801570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.41, Y:2.26, Z:0.04 [[ 9.91696648e-01 -1.28599215e-01 0.00000000e+00 1.20405237e+02] [ 1.28599215e-01 9.91696648e-01 0.00000000e+00 2.25589451e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06950444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.43, Y:2.26, Z:0.04 [[ 9.91787048e-01 -1.27900159e-01 0.00000000e+00 1.20433795e+02] [ 1.27900159e-01 9.91787048e-01 0.00000000e+00 2.26202699e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22750482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.46, Y:2.27, Z:0.04 [[ 9.92245328e-01 -1.24294846e-01 0.00000000e+00 1.20460334e+02] [ 1.24294846e-01 9.92245328e-01 0.00000000e+00 2.27359449e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92558434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.49, Y:2.28, Z:0.03 [[ 9.92606811e-01 -1.21374288e-01 0.00000000e+00 1.20487422e+02] [ 1.21374288e-01 9.92606811e-01 0.00000000e+00 2.28029105e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37297021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.52, Y:2.28, Z:0.03 [[ 9.92969339e-01 -1.18371836e-01 0.00000000e+00 1.20515146e+02] [ 1.18371836e-01 9.92969339e-01 0.00000000e+00 2.28492249e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78460656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.54, Y:2.29, Z:0.03 [[ 9.93434227e-01 -1.14404706e-01 0.00000000e+00 1.20543302e+02] [ 1.14404706e-01 9.93434227e-01 0.00000000e+00 2.28992079e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17359001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.57, Y:2.30, Z:0.03 [[ 9.93671034e-01 -1.12329320e-01 0.00000000e+00 1.20570107e+02] [ 1.12329320e-01 9.93671034e-01 0.00000000e+00 2.29895207e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26312328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.60, Y:2.31, Z:0.03 [[ 9.93695389e-01 -1.12113665e-01 0.00000000e+00 1.20598034e+02] [ 1.12113665e-01 9.93695389e-01 0.00000000e+00 2.30629942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45647789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.63, Y:2.31, Z:0.04 [[ 9.93562208e-01 -1.13287855e-01 0.00000000e+00 1.20626204e+02] [ 1.13287855e-01 9.93562208e-01 0.00000000e+00 2.31306383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96120198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.65, Y:2.32, Z:0.04 [[ 9.93442923e-01 -1.14329172e-01 0.00000000e+00 1.20653354e+02] [ 1.14329172e-01 9.93442923e-01 0.00000000e+00 2.31815649e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24978926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.68, Y:2.33, Z:0.04 [[ 9.93156818e-01 -1.16788421e-01 0.00000000e+00 1.20680908e+02] [ 1.16788421e-01 9.93156818e-01 0.00000000e+00 2.32509257e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21236853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.71, Y:2.33, Z:0.04 [[ 9.92921370e-01 -1.18773532e-01 0.00000000e+00 1.20707857e+02] [ 1.18773532e-01 9.92921370e-01 0.00000000e+00 2.33027007e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92670857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.74, Y:2.33, Z:0.04 [[ 9.92373764e-01 -1.23265211e-01 0.00000000e+00 1.20736221e+02] [ 1.23265211e-01 9.92373764e-01 0.00000000e+00 2.33334032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79295285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.76, Y:2.34, Z:0.04 [[ 9.91801228e-01 -1.27790159e-01 0.00000000e+00 1.20763917e+02] [ 1.27790159e-01 9.91801228e-01 0.00000000e+00 2.33631000e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52402118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.79, Y:2.34, Z:0.03 [[ 9.91445100e-01 -1.30524380e-01 0.00000000e+00 1.20792672e+02] [ 1.30524380e-01 9.91445100e-01 0.00000000e+00 2.34149244e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34708087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.82, Y:2.35, Z:0.03 [[ 9.90682091e-01 -1.36194696e-01 0.00000000e+00 1.20820385e+02] [ 1.36194696e-01 9.90682091e-01 0.00000000e+00 2.34589267e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96070048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.85, Y:2.35, Z:0.03 [[ 9.90350317e-01 -1.38586616e-01 0.00000000e+00 1.20848557e+02] [ 1.38586616e-01 9.90350317e-01 0.00000000e+00 2.34912521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17577866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:2.35, Z:0.03 [[ 9.90094723e-01 -1.40400993e-01 0.00000000e+00 1.20877675e+02] [ 1.40400993e-01 9.90094723e-01 0.00000000e+00 2.34946569e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49544465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.91, Y:2.35, Z:0.04 [[ 9.90114056e-01 -1.40264592e-01 0.00000000e+00 1.20906051e+02] [ 1.40264592e-01 9.90114056e-01 0.00000000e+00 2.35274881e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59203239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:2.36, Z:0.03 [[ 9.90471025e-01 -1.37721274e-01 0.00000000e+00 1.20933770e+02] [ 1.37721274e-01 9.90471025e-01 0.00000000e+00 2.35557418e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12179939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.96, Y:2.36, Z:0.03 [[ 9.90700137e-01 -1.36063364e-01 0.00000000e+00 1.20961238e+02] [ 1.36063364e-01 9.90700137e-01 0.00000000e+00 2.35960795e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13187402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.99, Y:2.37, Z:0.03 [[ 9.91330425e-01 -1.31392499e-01 0.00000000e+00 1.20989757e+02] [ 1.31392499e-01 9.91330425e-01 0.00000000e+00 2.36588237e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20356131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.02, Y:2.37, Z:0.03 [[ 9.91729580e-01 -1.28345007e-01 0.00000000e+00 1.21015859e+02] [ 1.28345007e-01 9.91729580e-01 0.00000000e+00 2.37161221e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11169106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.04, Y:2.38, Z:0.03 [[ 9.92494615e-01 -1.22288346e-01 0.00000000e+00 1.21044163e+02] [ 1.22288346e-01 9.92494615e-01 0.00000000e+00 2.37739997e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11837576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.07, Y:2.38, Z:0.03 [[ 9.92852454e-01 -1.19348251e-01 0.00000000e+00 1.21072275e+02] [ 1.19348251e-01 9.92852454e-01 0.00000000e+00 2.38192636e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24279657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.10, Y:2.39, Z:0.03 [[ 9.93392483e-01 -1.14766607e-01 0.00000000e+00 1.21099281e+02] [ 1.14766607e-01 9.93392483e-01 0.00000000e+00 2.38757719e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13220450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.13, Y:2.39, Z:0.03 [[ 9.93538933e-01 -1.13491796e-01 0.00000000e+00 1.21126766e+02] [ 1.13491796e-01 9.93538933e-01 0.00000000e+00 2.39481521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06189351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.15, Y:2.41, Z:0.03 [[ 9.93785276e-01 -1.11314085e-01 0.00000000e+00 1.21152381e+02] [ 1.11314085e-01 9.93785276e-01 0.00000000e+00 2.40771913e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07443149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.18, Y:2.42, Z:0.04 [[ 9.93949146e-01 -1.09841227e-01 0.00000000e+00 1.21179826e+02] [ 1.09841227e-01 9.93949146e-01 0.00000000e+00 2.41809560e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73761686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.21, Y:2.42, Z:0.04 [[ 9.93926085e-01 -1.10049705e-01 0.00000000e+00 1.21206726e+02] [ 1.10049705e-01 9.93926085e-01 0.00000000e+00 2.42484596e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76237057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:2.43, Z:0.03 [[ 9.93711512e-01 -1.11970667e-01 0.00000000e+00 1.21234218e+02] [ 1.11970667e-01 9.93711512e-01 0.00000000e+00 2.43456134e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46607644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:2.44, Z:0.03 [[ 9.93484128e-01 -1.13970556e-01 0.00000000e+00 1.21261240e+02] [ 1.13970556e-01 9.93484128e-01 0.00000000e+00 2.44226104e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49549657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.29, Y:2.45, Z:0.03 [[ 9.92773576e-01 -1.20002609e-01 0.00000000e+00 1.21287585e+02] [ 1.20002609e-01 9.92773576e-01 0.00000000e+00 2.45458620e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38283542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.31, Y:2.46, Z:0.03 [[ 9.92295355e-01 -1.23894826e-01 0.00000000e+00 1.21314849e+02] [ 1.23894826e-01 9.92295355e-01 0.00000000e+00 2.46252023e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42393141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.34, Y:2.47, Z:0.03 [[ 9.91202769e-01 -1.32352069e-01 0.00000000e+00 1.21341436e+02] [ 1.32352069e-01 9.91202769e-01 0.00000000e+00 2.46755391e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25052298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:2.47, Z:0.03 [[ 9.91178951e-01 -1.32530327e-01 0.00000000e+00 1.21369554e+02] [ 1.32530327e-01 9.91178951e-01 0.00000000e+00 2.47250128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25052298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.40, Y:2.48, Z:0.03 [[ 9.90474827e-01 -1.37693925e-01 0.00000000e+00 1.21397645e+02] [ 1.37693925e-01 9.90474827e-01 0.00000000e+00 2.47598493e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41868442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:2.48, Z:0.04 [[ 9.89079729e-01 -1.47381440e-01 0.00000000e+00 1.21426171e+02] [ 1.47381440e-01 9.89079729e-01 0.00000000e+00 2.48009350e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64260341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:2.49, Z:0.04 [[ 9.87999254e-01 -1.54458646e-01 0.00000000e+00 1.21453990e+02] [ 1.54458646e-01 9.87999254e-01 0.00000000e+00 2.48540301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63702518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:2.49, Z:0.04 [[ 9.87573841e-01 -1.57155683e-01 0.00000000e+00 1.21481089e+02] [ 1.57155683e-01 9.87573841e-01 0.00000000e+00 2.49089101e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57469586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.51, Y:2.49, Z:0.04 [[ 9.87138364e-01 -1.59868229e-01 0.00000000e+00 1.21509629e+02] [ 1.59868229e-01 9.87138364e-01 0.00000000e+00 2.49276072e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58645468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.54, Y:2.49, Z:0.04 [[ 9.87078780e-01 -1.60235708e-01 0.00000000e+00 1.21538930e+02] [ 1.60235708e-01 9.87078780e-01 0.00000000e+00 2.49360875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54806250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.57, Y:2.49, Z:0.03 [[ 9.87350102e-01 -1.58555280e-01 0.00000000e+00 1.21567696e+02] [ 1.58555280e-01 9.87350102e-01 0.00000000e+00 2.49266300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13942525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.60, Y:2.50, Z:0.03 [[ 9.88131150e-01 -1.53612599e-01 0.00000000e+00 1.21595101e+02] [ 1.53612599e-01 9.88131150e-01 0.00000000e+00 2.49684356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82689935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.62, Y:2.50, Z:0.03 [[ 9.88616677e-01 -1.50456194e-01 0.00000000e+00 1.21623672e+02] [ 1.50456194e-01 9.88616677e-01 0.00000000e+00 2.50246422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84129519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.65, Y:2.51, Z:0.03 [[ 9.89138249e-01 -1.46988179e-01 0.00000000e+00 1.21651621e+02] [ 1.46988179e-01 9.89138249e-01 0.00000000e+00 2.50862079e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07313301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.68, Y:2.51, Z:0.03 [[ 9.90252073e-01 -1.39286867e-01 0.00000000e+00 1.21679859e+02] [ 1.39286867e-01 9.90252073e-01 0.00000000e+00 2.51422316e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29498399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.71, Y:2.52, Z:0.03 [[ 9.91237576e-01 -1.32091132e-01 0.00000000e+00 1.21708148e+02] [ 1.32091132e-01 9.91237576e-01 0.00000000e+00 2.51610342e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40237648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.73, Y:2.52, Z:0.03 [[ 9.91693590e-01 -1.28622793e-01 0.00000000e+00 1.21734860e+02] [ 1.28622793e-01 9.91693590e-01 0.00000000e+00 2.52030725e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36953420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.76, Y:2.53, Z:0.04 [[ 9.92504422e-01 -1.22208722e-01 0.00000000e+00 1.21761771e+02] [ 1.22208722e-01 9.92504422e-01 0.00000000e+00 2.52808794e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55987212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:2.54, Z:0.04 [[ 9.92818140e-01 -1.19633361e-01 0.00000000e+00 1.21788881e+02] [ 1.19633361e-01 9.92818140e-01 0.00000000e+00 2.53573233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65094604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.82, Y:2.54, Z:0.04 [[ 9.93062159e-01 -1.17590599e-01 0.00000000e+00 1.21815764e+02] [ 1.17590599e-01 9.93062159e-01 0.00000000e+00 2.54234140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64760894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.84, Y:2.55, Z:0.03 [[ 9.93289550e-01 -1.15654096e-01 0.00000000e+00 1.21843831e+02] [ 1.15654096e-01 9.93289550e-01 0.00000000e+00 2.54658145e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37082233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.87, Y:2.55, Z:0.04 [[ 9.93095607e-01 -1.17307783e-01 0.00000000e+00 1.21871327e+02] [ 1.17307783e-01 9.93095607e-01 0.00000000e+00 2.55037860e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50349143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.90, Y:2.56, Z:0.03 [[ 9.92877802e-01 -1.19137192e-01 0.00000000e+00 1.21898472e+02] [ 1.19137192e-01 9.92877802e-01 0.00000000e+00 2.55672549e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49519072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.93, Y:2.57, Z:0.03 [[ 9.92352702e-01 -1.23434660e-01 0.00000000e+00 1.21925049e+02] [ 1.23434660e-01 9.92352702e-01 0.00000000e+00 2.56654903e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44565786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.95, Y:2.57, Z:0.04 [[ 9.92008889e-01 -1.26167998e-01 0.00000000e+00 1.21952403e+02] [ 1.26167998e-01 9.92008889e-01 0.00000000e+00 2.57270959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65975274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:2.57, Z:0.04 [[ 9.91335246e-01 -1.31356122e-01 0.00000000e+00 1.21980762e+02] [ 1.31356122e-01 9.91335246e-01 0.00000000e+00 2.57422527e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71415056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.01, Y:2.58, Z:0.04 [[ 9.90991344e-01 -1.33925936e-01 0.00000000e+00 1.22007536e+02] [ 1.33925936e-01 9.90991344e-01 0.00000000e+00 2.57538579e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60637001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:2.57, Z:0.04 [[ 9.90429680e-01 -1.38018294e-01 0.00000000e+00 1.22035776e+02] [ 1.38018294e-01 9.90429680e-01 0.00000000e+00 2.57435155e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56282953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.06, Y:2.58, Z:0.03 [[ 9.89895628e-01 -1.41797903e-01 0.00000000e+00 1.22063430e+02] [ 1.41797903e-01 9.89895628e-01 0.00000000e+00 2.58425625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05288081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:2.59, Z:0.03 [[ 9.89651434e-01 -1.43492295e-01 0.00000000e+00 1.22090072e+02] [ 1.43492295e-01 9.89651434e-01 0.00000000e+00 2.59146475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72435540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.12, Y:2.59, Z:0.03 [[ 9.89300905e-01 -1.45889406e-01 0.00000000e+00 1.22118866e+02] [ 1.45889406e-01 9.89300905e-01 0.00000000e+00 2.59264121e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17207807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:2.59, Z:0.03 [[ 9.89219990e-01 -1.46437058e-01 0.00000000e+00 1.22147542e+02] [ 1.46437058e-01 9.89219990e-01 0.00000000e+00 2.59425962e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40725126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.18, Y:2.60, Z:0.04 [[ 9.89275248e-01 -1.46063289e-01 0.00000000e+00 1.22175690e+02] [ 1.46063289e-01 9.89275248e-01 0.00000000e+00 2.59754668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51121289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.20, Y:2.60, Z:0.03 [[ 9.89363284e-01 -1.45465778e-01 0.00000000e+00 1.22203212e+02] [ 1.45465778e-01 9.89363284e-01 0.00000000e+00 2.60321077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45301813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.23, Y:2.61, Z:0.03 [[ 9.89765480e-01 -1.42703522e-01 0.00000000e+00 1.22229840e+02] [ 1.42703522e-01 9.89765480e-01 0.00000000e+00 2.61116499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33361140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.26, Y:2.62, Z:0.03 [[ 9.90367475e-01 -1.38463948e-01 0.00000000e+00 1.22257034e+02] [ 1.38463948e-01 9.90367475e-01 0.00000000e+00 2.61798395e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43170892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.28, Y:2.62, Z:0.04 [[ 9.90651162e-01 -1.36419481e-01 0.00000000e+00 1.22284734e+02] [ 1.36419481e-01 9.90651162e-01 0.00000000e+00 2.62139975e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56251986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.31, Y:2.62, Z:0.04 [[ 9.90864771e-01 -1.34859208e-01 0.00000000e+00 1.22312610e+02] [ 1.34859208e-01 9.90864771e-01 0.00000000e+00 2.62399711e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71669379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:2.63, Z:0.04 [[ 9.91037491e-01 -1.33584021e-01 0.00000000e+00 1.22340550e+02] [ 1.33584021e-01 9.91037491e-01 0.00000000e+00 2.62742450e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91347218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:2.64, Z:0.04 [[ 9.90993098e-01 -1.33912956e-01 0.00000000e+00 1.22367404e+02] [ 1.33912956e-01 9.90993098e-01 0.00000000e+00 2.63503279e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90146930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.39, Y:2.65, Z:0.04 [[ 9.90842176e-01 -1.35025118e-01 0.00000000e+00 1.22393230e+02] [ 1.35025118e-01 9.90842176e-01 0.00000000e+00 2.64786957e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58939298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.42, Y:2.65, Z:0.03 [[ 9.90443574e-01 -1.37918552e-01 0.00000000e+00 1.22420299e+02] [ 1.37918552e-01 9.90443574e-01 0.00000000e+00 2.65188944e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37991032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.45, Y:2.65, Z:0.03 [[ 9.90156971e-01 -1.39961326e-01 0.00000000e+00 1.22447491e+02] [ 1.39961326e-01 9.90156971e-01 0.00000000e+00 2.65147835e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45721256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.48, Y:2.65, Z:0.04 [[ 9.89604106e-01 -1.43818334e-01 0.00000000e+00 1.22477112e+02] [ 1.43818334e-01 9.89604106e-01 0.00000000e+00 2.64854736e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79831632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.50, Y:2.65, Z:0.03 [[ 9.89376646e-01 -1.45374867e-01 0.00000000e+00 1.22504546e+02] [ 1.45374867e-01 9.89376646e-01 0.00000000e+00 2.65387337e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45354443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.53, Y:2.66, Z:0.03 [[ 9.89144811e-01 -1.46944012e-01 0.00000000e+00 1.22531963e+02] [ 1.46944012e-01 9.89144811e-01 0.00000000e+00 2.66270949e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71305619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.56, Y:2.67, Z:0.03 [[ 9.89198493e-01 -1.46582201e-01 0.00000000e+00 1.22560488e+02] [ 1.46582201e-01 9.89198493e-01 0.00000000e+00 2.66907059e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79419026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.59, Y:2.67, Z:0.03 [[ 9.89773027e-01 -1.42651166e-01 0.00000000e+00 1.22587955e+02] [ 1.42651166e-01 9.89773027e-01 0.00000000e+00 2.67210839e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97205447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.62, Y:2.68, Z:0.03 [[ 9.90175874e-01 -1.39827533e-01 0.00000000e+00 1.22616616e+02] [ 1.39827533e-01 9.90175874e-01 0.00000000e+00 2.67561775e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99329039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:2.68, Z:0.03 [[ 9.91027939e-01 -1.33654873e-01 0.00000000e+00 1.22644153e+02] [ 1.33654873e-01 9.91027939e-01 0.00000000e+00 2.68108526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22307212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:2.69, Z:0.03 [[ 9.91841520e-01 -1.27477056e-01 0.00000000e+00 1.22670610e+02] [ 1.27477056e-01 9.91841520e-01 0.00000000e+00 2.69309634e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35617548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.70, Y:2.70, Z:0.03 [[ 9.92134075e-01 -1.25179777e-01 0.00000000e+00 1.22696346e+02] [ 1.25179777e-01 9.92134075e-01 0.00000000e+00 2.70108931e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18330215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.72, Y:2.71, Z:0.03 [[ 9.92382391e-01 -1.23195740e-01 0.00000000e+00 1.22724157e+02] [ 1.23195740e-01 9.92382391e-01 0.00000000e+00 2.70646981e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44976342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.75, Y:2.71, Z:0.04 [[ 9.92365089e-01 -1.23335031e-01 0.00000000e+00 1.22751533e+02] [ 1.23335031e-01 9.92365089e-01 0.00000000e+00 2.70970990e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57456486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:2.72, Z:0.04 [[ 9.92002805e-01 -1.26215826e-01 0.00000000e+00 1.22779942e+02] [ 1.26215826e-01 9.92002805e-01 0.00000000e+00 2.71682042e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96954643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.81, Y:2.73, Z:0.04 [[ 9.91677306e-01 -1.28748281e-01 0.00000000e+00 1.22805627e+02] [ 1.28748281e-01 9.91677306e-01 0.00000000e+00 2.72515221e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71950921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.83, Y:2.73, Z:0.03 [[ 9.90962389e-01 -1.34140016e-01 0.00000000e+00 1.22832918e+02] [ 1.34140016e-01 9.90962389e-01 0.00000000e+00 2.73103453e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38276400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:2.73, Z:0.03 [[ 9.90596199e-01 -1.36818022e-01 0.00000000e+00 1.22861137e+02] [ 1.36818022e-01 9.90596199e-01 0.00000000e+00 2.73261675e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24706883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:2.73, Z:0.03 [[ 9.89987898e-01 -1.41152264e-01 0.00000000e+00 1.22889337e+02] [ 1.41152264e-01 9.89987898e-01 0.00000000e+00 2.73121010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11489970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:2.74, Z:0.03 [[ 9.89633518e-01 -1.43615808e-01 0.00000000e+00 1.22917233e+02] [ 1.43615808e-01 9.89633518e-01 0.00000000e+00 2.73508288e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01773273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.95, Y:2.74, Z:0.03 [[ 9.89528460e-01 -1.44337894e-01 0.00000000e+00 1.22945080e+02] [ 1.44337894e-01 9.89528460e-01 0.00000000e+00 2.73989781e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04596504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:2.75, Z:0.03 [[ 9.89644943e-01 -1.43537058e-01 0.00000000e+00 1.22973024e+02] [ 1.43537058e-01 9.89644943e-01 0.00000000e+00 2.74520827e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92660436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.00, Y:2.75, Z:0.03 [[ 9.89858190e-01 -1.42059016e-01 0.00000000e+00 1.23001194e+02] [ 1.42059016e-01 9.89858190e-01 0.00000000e+00 2.74938958e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87007332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.03, Y:2.75, Z:0.03 [[ 9.90398190e-01 -1.38244077e-01 0.00000000e+00 1.23031011e+02] [ 1.38244077e-01 9.90398190e-01 0.00000000e+00 2.74859496e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09079661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:2.75, Z:0.03 [[ 9.90877809e-01 -1.34763380e-01 0.00000000e+00 1.23058996e+02] [ 1.34763380e-01 9.90877809e-01 0.00000000e+00 2.74635088e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43159652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:2.75, Z:0.03 [[ 9.91119690e-01 -1.32972783e-01 0.00000000e+00 1.23087123e+02] [ 1.32972783e-01 9.91119690e-01 0.00000000e+00 2.75076503e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45333407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:2.76, Z:0.03 [[ 9.91095826e-01 -1.33150528e-01 0.00000000e+00 1.23115201e+02] [ 1.33150528e-01 9.91095826e-01 0.00000000e+00 2.75595583e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45333407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:2.76, Z:0.03 [[ 9.91503964e-01 -1.30076478e-01 0.00000000e+00 1.23141488e+02] [ 1.30076478e-01 9.91503964e-01 0.00000000e+00 2.76480463e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82174743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:2.77, Z:0.03 [[ 9.91723223e-01 -1.28394119e-01 0.00000000e+00 1.23169520e+02] [ 1.28394119e-01 9.91723223e-01 0.00000000e+00 2.77017861e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62382867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.20, Y:2.77, Z:0.03 [[ 9.92125721e-01 -1.25245974e-01 0.00000000e+00 1.23198849e+02] [ 1.25245974e-01 9.92125721e-01 0.00000000e+00 2.76796518e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18120015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.23, Y:2.77, Z:0.04 [[ 9.92264668e-01 -1.24140360e-01 0.00000000e+00 1.23227134e+02] [ 1.24140360e-01 9.92264668e-01 0.00000000e+00 2.76978740e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53437196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.26, Y:2.77, Z:0.04 [[ 9.92399930e-01 -1.23054378e-01 0.00000000e+00 1.23256043e+02] [ 1.23054378e-01 9.92399930e-01 0.00000000e+00 2.77225743e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84966740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.28, Y:2.78, Z:0.04 [[ 9.92414388e-01 -1.22937719e-01 0.00000000e+00 1.23283426e+02] [ 1.22937719e-01 9.92414388e-01 0.00000000e+00 2.77618746e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72861110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.31, Y:2.78, Z:0.03 [[ 9.92592609e-01 -1.21490383e-01 0.00000000e+00 1.23311993e+02] [ 1.21490383e-01 9.92592609e-01 0.00000000e+00 2.78178342e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43800853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.34, Y:2.79, Z:0.03 [[ 9.92772961e-01 -1.20007702e-01 0.00000000e+00 1.23339595e+02] [ 1.20007702e-01 9.92772961e-01 0.00000000e+00 2.78787897e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32022666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.37, Y:2.79, Z:0.03 [[ 9.93096933e-01 -1.17296551e-01 0.00000000e+00 1.23368646e+02] [ 1.17296551e-01 9.93096933e-01 0.00000000e+00 2.79209457e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49707449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.40, Y:2.79, Z:0.04 [[ 9.93490551e-01 -1.13914550e-01 0.00000000e+00 1.23396573e+02] [ 1.13914550e-01 9.93490551e-01 0.00000000e+00 2.79429562e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71388467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:2.80, Z:0.04 [[ 9.93683810e-01 -1.12216242e-01 0.00000000e+00 1.23425421e+02] [ 1.12216242e-01 9.93683810e-01 0.00000000e+00 2.79930812e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80166470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:2.81, Z:0.03 [[ 9.93892502e-01 -1.10352592e-01 0.00000000e+00 1.23452149e+02] [ 1.10352592e-01 9.93892502e-01 0.00000000e+00 2.80597672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28961514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:2.81, Z:0.03 [[ 9.93907193e-01 -1.10220198e-01 0.00000000e+00 1.23478874e+02] [ 1.10220198e-01 9.93907193e-01 0.00000000e+00 2.81378633e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99548000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:2.82, Z:0.03 [[ 9.93779173e-01 -1.11368552e-01 0.00000000e+00 1.23505837e+02] [ 1.11368552e-01 9.93779173e-01 0.00000000e+00 2.82350388e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89304060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:2.83, Z:0.03 [[ 9.93590454e-01 -1.13039856e-01 0.00000000e+00 1.23533796e+02] [ 1.13039856e-01 9.93590454e-01 0.00000000e+00 2.82904809e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08201776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.56, Y:2.83, Z:0.03 [[ 9.93034222e-01 -1.17826291e-01 0.00000000e+00 1.23562297e+02] [ 1.17826291e-01 9.93034222e-01 0.00000000e+00 2.83424132e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28165571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.59, Y:2.84, Z:0.03 [[ 9.92727419e-01 -1.20383850e-01 0.00000000e+00 1.23589580e+02] [ 1.20383850e-01 9.92727419e-01 0.00000000e+00 2.84093518e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35381154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.62, Y:2.85, Z:0.04 [[ 9.92226815e-01 -1.24442544e-01 0.00000000e+00 1.23615911e+02] [ 1.24442544e-01 9.92226815e-01 0.00000000e+00 2.84920389e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56879509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.315336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:2.85, Z:0.04 [[ 9.91969016e-01 -1.26481114e-01 0.00000000e+00 1.23643851e+02] [ 1.26481114e-01 9.91969016e-01 0.00000000e+00 2.85488040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69777616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:2.86, Z:0.04 [[ 9.91483860e-01 -1.30229627e-01 0.00000000e+00 1.23671921e+02] [ 1.30229627e-01 9.91483860e-01 0.00000000e+00 2.86031272e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77055459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:2.87, Z:0.04 [[ 9.91181728e-01 -1.32509556e-01 0.00000000e+00 1.23699200e+02] [ 1.32509556e-01 9.91181728e-01 0.00000000e+00 2.86661165e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78742185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:2.88, Z:0.04 [[ 9.90528559e-01 -1.37306857e-01 0.00000000e+00 1.23726293e+02] [ 1.37306857e-01 9.90528559e-01 0.00000000e+00 2.87699628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63744215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.75, Y:2.89, Z:0.03 [[ 9.89797904e-01 -1.42478454e-01 0.00000000e+00 1.23752997e+02] [ 1.42478454e-01 9.89797904e-01 0.00000000e+00 2.88676421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64651090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.78, Y:2.89, Z:0.03 [[ 9.89459119e-01 -1.44812474e-01 0.00000000e+00 1.23781121e+02] [ 1.44812474e-01 9.89459119e-01 0.00000000e+00 2.89061326e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54388119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.81, Y:2.89, Z:0.03 [[ 9.88979198e-01 -1.48054535e-01 0.00000000e+00 1.23810173e+02] [ 1.48054535e-01 9.88979198e-01 0.00000000e+00 2.88940790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40402599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.84, Y:2.89, Z:0.03 [[ 9.88856703e-01 -1.48870482e-01 0.00000000e+00 1.23837889e+02] [ 1.48870482e-01 9.88856703e-01 0.00000000e+00 2.89385254e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27574460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:2.91, Z:0.03 [[ 9.88917369e-01 -1.48466955e-01 0.00000000e+00 1.23864425e+02] [ 1.48466955e-01 9.88917369e-01 0.00000000e+00 2.90700872e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25652405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.89, Y:2.92, Z:0.03 [[ 9.89020281e-01 -1.47779851e-01 0.00000000e+00 1.23891517e+02] [ 1.47779851e-01 9.89020281e-01 0.00000000e+00 2.91619701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07281535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:2.92, Z:0.03 [[ 9.89199806e-01 -1.46573343e-01 0.00000000e+00 1.23918910e+02] [ 1.46573343e-01 9.89199806e-01 0.00000000e+00 2.92490163e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21924582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.95, Y:2.93, Z:0.03 [[ 9.89378416e-01 -1.45362824e-01 0.00000000e+00 1.23947792e+02] [ 1.45362824e-01 9.89378416e-01 0.00000000e+00 2.92983929e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32473439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.97, Y:2.93, Z:0.03 [[ 9.89428164e-01 -1.45023820e-01 0.00000000e+00 1.23974103e+02] [ 1.45023820e-01 9.89428164e-01 0.00000000e+00 2.93471583e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39620458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.00, Y:2.94, Z:0.03 [[ 9.89494565e-01 -1.44570071e-01 0.00000000e+00 1.24000788e+02] [ 1.44570071e-01 9.89494565e-01 0.00000000e+00 2.94111757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43860485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.03, Y:2.95, Z:0.04 [[ 9.89838056e-01 -1.42199238e-01 0.00000000e+00 1.24027434e+02] [ 1.42199238e-01 9.89838056e-01 0.00000000e+00 2.95332466e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53888897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.05, Y:2.97, Z:0.03 [[ 9.90070973e-01 -1.40568377e-01 0.00000000e+00 1.24053383e+02] [ 1.40568377e-01 9.90070973e-01 0.00000000e+00 2.96626243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92791949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:2.97, Z:0.03 [[ 9.90015086e-01 -1.40961449e-01 0.00000000e+00 1.24080798e+02] [ 1.40961449e-01 9.90015086e-01 0.00000000e+00 2.97330884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72737219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:2.98, Z:0.03 [[ 9.89733017e-01 -1.42928494e-01 0.00000000e+00 1.24108642e+02] [ 1.42928494e-01 9.89733017e-01 0.00000000e+00 2.97795837e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88273602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.14, Y:2.98, Z:0.03 [[ 9.89581110e-01 -1.43976479e-01 0.00000000e+00 1.24136116e+02] [ 1.43976479e-01 9.89581110e-01 0.00000000e+00 2.98293800e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94986385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.16, Y:2.99, Z:0.03 [[ 9.89307385e-01 -1.45845460e-01 0.00000000e+00 1.24163941e+02] [ 1.45845460e-01 9.89307385e-01 0.00000000e+00 2.99079437e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21365270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.19, Y:3.00, Z:0.04 [[ 9.88988257e-01 -1.47994013e-01 0.00000000e+00 1.24191388e+02] [ 1.47994013e-01 9.88988257e-01 0.00000000e+00 2.99902520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51837704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.22, Y:3.01, Z:0.03 [[ 9.88866474e-01 -1.48805565e-01 0.00000000e+00 1.24218832e+02] [ 1.48805565e-01 9.88866474e-01 0.00000000e+00 3.00514877e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28098444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.25, Y:3.01, Z:0.03 [[ 9.88720153e-01 -1.49774691e-01 0.00000000e+00 1.24247061e+02] [ 1.49774691e-01 9.88720153e-01 0.00000000e+00 3.01150181e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13882907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:3.02, Z:0.03 [[ 9.88693581e-01 -1.49950004e-01 0.00000000e+00 1.24274378e+02] [ 1.49950004e-01 9.88693581e-01 0.00000000e+00 3.01731713e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06042172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.30, Y:3.02, Z:0.03 [[ 9.88878470e-01 -1.48725829e-01 0.00000000e+00 1.24301655e+02] [ 1.48725829e-01 9.88878470e-01 0.00000000e+00 3.02127058e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81284312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.065336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.33, Y:3.03, Z:0.03 [[ 9.89017627e-01 -1.47797610e-01 0.00000000e+00 1.24329233e+02] [ 1.47797610e-01 9.89017627e-01 0.00000000e+00 3.02502959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69764570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.36, Y:3.03, Z:0.03 [[ 9.89438548e-01 -1.44952958e-01 0.00000000e+00 1.24357568e+02] [ 1.44952958e-01 9.89438548e-01 0.00000000e+00 3.02987581e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71967687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.39, Y:3.04, Z:0.03 [[ 9.90008158e-01 -1.41010094e-01 0.00000000e+00 1.24385280e+02] [ 1.41010094e-01 9.90008158e-01 0.00000000e+00 3.03887321e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78336328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.41, Y:3.05, Z:0.03 [[ 9.90265341e-01 -1.39192508e-01 0.00000000e+00 1.24412175e+02] [ 1.39192508e-01 9.90265341e-01 0.00000000e+00 3.04727120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62950101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.44, Y:3.06, Z:0.03 [[ 9.90507453e-01 -1.37459033e-01 0.00000000e+00 1.24438708e+02] [ 1.37459033e-01 9.90507453e-01 0.00000000e+00 3.05601439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91826115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:3.06, Z:0.03 [[ 9.90547247e-01 -1.37171978e-01 0.00000000e+00 1.24466658e+02] [ 1.37171978e-01 9.90547247e-01 0.00000000e+00 3.06074461e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15734668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:3.06, Z:0.03 [[ 9.90663671e-01 -1.36328611e-01 0.00000000e+00 1.24494800e+02] [ 1.36328611e-01 9.90663671e-01 0.00000000e+00 3.06182038e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03651354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:3.06, Z:0.03 [[ 9.90670729e-01 -1.36277316e-01 0.00000000e+00 1.24522632e+02] [ 1.36277316e-01 9.90670729e-01 0.00000000e+00 3.06494370e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21431913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.55, Y:3.07, Z:0.03 [[ 9.90686354e-01 -1.36163682e-01 0.00000000e+00 1.24550352e+02] [ 1.36163682e-01 9.90686354e-01 0.00000000e+00 3.07049579e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09622476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.58, Y:3.08, Z:0.03 [[ 9.90763686e-01 -1.35599846e-01 0.00000000e+00 1.24577533e+02] [ 1.35599846e-01 9.90763686e-01 0.00000000e+00 3.08446817e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72938145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:3.10, Z:0.03 [[ 9.90888554e-01 -1.34684346e-01 0.00000000e+00 1.24604888e+02] [ 1.34684346e-01 9.90888554e-01 0.00000000e+00 3.09674495e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65659800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:3.10, Z:0.03 [[ 9.90933027e-01 -1.34356751e-01 0.00000000e+00 1.24632597e+02] [ 1.34356751e-01 9.90933027e-01 0.00000000e+00 3.10063795e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67927327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:3.10, Z:0.03 [[ 9.90911696e-01 -1.34513983e-01 0.00000000e+00 1.24661031e+02] [ 1.34513983e-01 9.90911696e-01 0.00000000e+00 3.10425675e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12073192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.69, Y:3.11, Z:0.03 [[ 9.90839209e-01 -1.35046886e-01 0.00000000e+00 1.24688098e+02] [ 1.35046886e-01 9.90839209e-01 0.00000000e+00 3.11054916e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14210713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.72, Y:3.12, Z:0.03 [[ 9.90690310e-01 -1.36134895e-01 0.00000000e+00 1.24715202e+02] [ 1.36134895e-01 9.90690310e-01 0.00000000e+00 3.11812924e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76503668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:3.13, Z:0.02 [[ 9.90427575e-01 -1.38033394e-01 0.00000000e+00 1.24743370e+02] [ 1.38033394e-01 9.90427575e-01 0.00000000e+00 3.12734089e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10726333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:3.13, Z:0.02 [[ 9.90271368e-01 -1.39149625e-01 0.00000000e+00 1.24769604e+02] [ 1.39149625e-01 9.90271368e-01 0.00000000e+00 3.13374214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89927226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.80, Y:3.14, Z:0.02 [[ 9.90168342e-01 -1.39880859e-01 0.00000000e+00 1.24798295e+02] [ 1.39880859e-01 9.90168342e-01 0.00000000e+00 3.13902247e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25120030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:3.14, Z:0.03 [[ 9.90076424e-01 -1.40529978e-01 0.00000000e+00 1.24824619e+02] [ 1.40529978e-01 9.90076424e-01 0.00000000e+00 3.14252064e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53981812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.85, Y:3.15, Z:0.02 [[ 9.90018965e-01 -1.40934200e-01 0.00000000e+00 1.24852360e+02] [ 1.40934200e-01 9.90018965e-01 0.00000000e+00 3.15145526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19092370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.88, Y:3.16, Z:0.02 [[ 9.89993516e-01 -1.41112859e-01 0.00000000e+00 1.24880382e+02] [ 1.41112859e-01 9.89993516e-01 0.00000000e+00 3.15687122e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19092370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.91, Y:3.16, Z:0.02 [[ 9.89944459e-01 -1.41456592e-01 0.00000000e+00 1.24908762e+02] [ 1.41456592e-01 9.89944459e-01 0.00000000e+00 3.16430696e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36182345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.94, Y:3.17, Z:0.03 [[ 9.89865282e-01 -1.42009591e-01 0.00000000e+00 1.24937249e+02] [ 1.42009591e-01 9.89865282e-01 0.00000000e+00 3.17116116e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70864571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.96, Y:3.18, Z:0.02 [[ 9.89782391e-01 -1.42586182e-01 0.00000000e+00 1.24964713e+02] [ 1.42586182e-01 9.89782391e-01 0.00000000e+00 3.17676360e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45754890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.99, Y:3.19, Z:0.02 [[ 9.89498679e-01 -1.44541913e-01 0.00000000e+00 1.24991892e+02] [ 1.44541913e-01 9.89498679e-01 0.00000000e+00 3.18630785e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36217430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.815336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.02, Y:3.20, Z:0.02 [[ 9.89409207e-01 -1.45153098e-01 0.00000000e+00 1.25018427e+02] [ 1.45153098e-01 9.89409207e-01 0.00000000e+00 3.19552677e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34656730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.05, Y:3.20, Z:0.03 [[ 9.89369615e-01 -1.45422708e-01 0.00000000e+00 1.25046935e+02] [ 1.45422708e-01 9.89369615e-01 0.00000000e+00 3.19952423e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59261929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.07, Y:3.20, Z:0.03 [[ 9.88996595e-01 -1.47938281e-01 0.00000000e+00 1.25074949e+02] [ 1.47938281e-01 9.88996595e-01 0.00000000e+00 3.20037499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95530723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.10, Y:3.21, Z:0.03 [[ 9.88746457e-01 -1.49600950e-01 0.00000000e+00 1.25102348e+02] [ 1.49600950e-01 9.88746457e-01 0.00000000e+00 3.20839413e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02275010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.13, Y:3.22, Z:0.03 [[ 9.88562750e-01 -1.50810108e-01 0.00000000e+00 1.25129306e+02] [ 1.50810108e-01 9.88562750e-01 0.00000000e+00 3.21772323e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03797657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.16, Y:3.22, Z:0.04 [[ 9.88313978e-01 -1.52431890e-01 0.00000000e+00 1.25156652e+02] [ 1.52431890e-01 9.88313978e-01 0.00000000e+00 3.22323441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52775456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:3.23, Z:0.04 [[ 9.88227825e-01 -1.52989434e-01 0.00000000e+00 1.25184412e+02] [ 1.52989434e-01 9.88227825e-01 0.00000000e+00 3.22503237e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77361437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.21, Y:3.23, Z:0.03 [[ 9.88217380e-01 -1.53056883e-01 0.00000000e+00 1.25212631e+02] [ 1.53056883e-01 9.88217380e-01 0.00000000e+00 3.22655257e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29756692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.24, Y:3.23, Z:0.03 [[ 9.88175952e-01 -1.53324124e-01 0.00000000e+00 1.25241142e+02] [ 1.53324124e-01 9.88175952e-01 0.00000000e+00 3.23242990e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06406602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.27, Y:3.24, Z:0.03 [[ 9.88215934e-01 -1.53066223e-01 0.00000000e+00 1.25267756e+02] [ 1.53066223e-01 9.88215934e-01 0.00000000e+00 3.23831692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98410161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.30, Y:3.25, Z:0.03 [[ 9.88463672e-01 -1.51458143e-01 0.00000000e+00 1.25295853e+02] [ 1.51458143e-01 9.88463672e-01 0.00000000e+00 3.24507763e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68694755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.32, Y:3.25, Z:0.03 [[ 9.88598916e-01 -1.50572849e-01 0.00000000e+00 1.25323453e+02] [ 1.50572849e-01 9.88598916e-01 0.00000000e+00 3.24991942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66914681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.175336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:125.35, Y:3.25, Z:0.03 [[ 9.88711351e-01 -1.49832786e-01 0.00000000e+00 1.25352391e+02] [ 1.49832786e-01 9.88711351e-01 0.00000000e+00 3.25060790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09993707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:3.26, Z:0.03 [[ 9.88772977e-01 -1.49425568e-01 0.00000000e+00 1.25380139e+02] [ 1.49425568e-01 9.88772977e-01 0.00000000e+00 3.25514553e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29033721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.41, Y:3.26, Z:0.03 [[ 9.88941403e-01 -1.48306780e-01 0.00000000e+00 1.25408028e+02] [ 1.48306780e-01 9.88941403e-01 0.00000000e+00 3.26466842e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38991087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.44, Y:3.27, Z:0.03 [[ 9.88924016e-01 -1.48422677e-01 0.00000000e+00 1.25435950e+02] [ 1.48422677e-01 9.88924016e-01 0.00000000e+00 3.26887430e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12813670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.46, Y:3.27, Z:0.03 [[ 9.88813903e-01 -1.49154500e-01 0.00000000e+00 1.25464145e+02] [ 1.49154500e-01 9.88813903e-01 0.00000000e+00 3.27157559e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13175109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:3.27, Z:0.03 [[ 9.88783847e-01 -1.49353623e-01 0.00000000e+00 1.25491713e+02] [ 1.49353623e-01 9.88783847e-01 0.00000000e+00 3.27479424e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04123448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.52, Y:3.28, Z:0.03 [[ 9.88853376e-01 -1.48892583e-01 0.00000000e+00 1.25519220e+02] [ 1.48892583e-01 9.88853376e-01 0.00000000e+00 3.28010231e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07317143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.55, Y:3.28, Z:0.03 [[ 9.88946099e-01 -1.48275467e-01 0.00000000e+00 1.25545666e+02] [ 1.48275467e-01 9.88946099e-01 0.00000000e+00 3.28415785e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11181978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.57, Y:3.29, Z:0.03 [[ 9.89209965e-01 -1.46504759e-01 0.00000000e+00 1.25574169e+02] [ 1.46504759e-01 9.89209965e-01 0.00000000e+00 3.28752809e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98862875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.60, Y:3.29, Z:0.03 [[ 9.89486715e-01 -1.44623794e-01 0.00000000e+00 1.25602689e+02] [ 1.44623794e-01 9.89486715e-01 0.00000000e+00 3.29415208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93482766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.63, Y:3.30, Z:0.03 [[ 9.89574643e-01 -1.44020920e-01 0.00000000e+00 1.25629951e+02] [ 1.44020920e-01 9.89574643e-01 0.00000000e+00 3.29911241e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89082995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.66, Y:3.30, Z:0.03 [[ 9.89792678e-01 -1.42514753e-01 0.00000000e+00 1.25658105e+02] [ 1.42514753e-01 9.89792678e-01 0.00000000e+00 3.30310965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40654569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.69, Y:3.31, Z:0.03 [[ 9.89804364e-01 -1.42433565e-01 0.00000000e+00 1.25685118e+02] [ 1.42433565e-01 9.89804364e-01 0.00000000e+00 3.30792400e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26850842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.565336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.71, Y:3.31, Z:0.03 [[ 9.89539278e-01 -1.44263710e-01 0.00000000e+00 1.25714537e+02] [ 1.44263710e-01 9.89539278e-01 0.00000000e+00 3.30940639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76008822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.74, Y:3.31, Z:0.03 [[ 9.89338899e-01 -1.45631533e-01 0.00000000e+00 1.25741246e+02] [ 1.45631533e-01 9.89338899e-01 0.00000000e+00 3.31124969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72428564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.77, Y:3.31, Z:0.03 [[ 9.88963851e-01 -1.48157013e-01 0.00000000e+00 1.25770407e+02] [ 1.48157013e-01 9.88963851e-01 0.00000000e+00 3.31386631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12413440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:3.32, Z:0.03 [[ 9.88855636e-01 -1.48877574e-01 0.00000000e+00 1.25798357e+02] [ 1.48877574e-01 9.88855636e-01 0.00000000e+00 3.31922406e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21807536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.83, Y:3.33, Z:0.03 [[ 9.88695915e-01 -1.49934609e-01 0.00000000e+00 1.25825459e+02] [ 1.49934609e-01 9.88695915e-01 0.00000000e+00 3.32515285e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61516669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:3.33, Z:0.02 [[ 9.88679345e-01 -1.50043838e-01 0.00000000e+00 1.25853904e+02] [ 1.50043838e-01 9.88679345e-01 0.00000000e+00 3.33080399e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48386840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.88, Y:3.33, Z:0.03 [[ 9.88804428e-01 -1.49217299e-01 0.00000000e+00 1.25882348e+02] [ 1.49217299e-01 9.88804428e-01 0.00000000e+00 3.33435337e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83506044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.91, Y:3.33, Z:0.03 [[ 9.89044288e-01 -1.47619089e-01 0.00000000e+00 1.25912560e+02] [ 1.47619089e-01 9.89044288e-01 0.00000000e+00 3.33217273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17461217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.94, Y:3.33, Z:0.03 [[ 9.89071338e-01 -1.47437746e-01 0.00000000e+00 1.25940799e+02] [ 1.47437746e-01 9.89071338e-01 0.00000000e+00 3.33469729e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95131534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.97, Y:3.34, Z:0.03 [[ 9.88935990e-01 -1.48342871e-01 0.00000000e+00 1.25969089e+02] [ 1.48342871e-01 9.88935990e-01 0.00000000e+00 3.34049285e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85252218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.99, Y:3.35, Z:0.03 [[ 9.88892327e-01 -1.48633662e-01 0.00000000e+00 1.25994984e+02] [ 1.48633662e-01 9.88892327e-01 0.00000000e+00 3.34678229e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63780931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.02, Y:3.35, Z:0.03 [[ 9.88913471e-01 -1.48492918e-01 0.00000000e+00 1.26022673e+02] [ 1.48492918e-01 9.88913471e-01 0.00000000e+00 3.35103774e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73241367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:3.36, Z:0.03 [[ 9.88925463e-01 -1.48413031e-01 0.00000000e+00 1.26050039e+02] [ 1.48413031e-01 9.88925463e-01 0.00000000e+00 3.35503511e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85115374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:3.36, Z:0.03 [[ 9.89042133e-01 -1.47633531e-01 0.00000000e+00 1.26077857e+02] [ 1.47633531e-01 9.89042133e-01 0.00000000e+00 3.35917455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71289812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98533619499999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.11, Y:3.36, Z:0.03 [[ 9.89113987e-01 -1.47151356e-01 0.00000000e+00 1.26107269e+02] [ 1.47151356e-01 9.89113987e-01 0.00000000e+00 3.36011425e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33164984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.14, Y:3.36, Z:0.03 [[ 9.89130975e-01 -1.47037119e-01 0.00000000e+00 1.26135445e+02] [ 1.47037119e-01 9.89130975e-01 0.00000000e+00 3.36261611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48050840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.16, Y:3.37, Z:0.04 [[ 9.89281451e-01 -1.46021270e-01 0.00000000e+00 1.26162973e+02] [ 1.46021270e-01 9.89281451e-01 0.00000000e+00 3.36793213e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61400436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.19, Y:3.38, Z:0.03 [[ 9.89479208e-01 -1.44675142e-01 0.00000000e+00 1.26188981e+02] [ 1.44675142e-01 9.89479208e-01 0.00000000e+00 3.37516756e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28640187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.22, Y:3.38, Z:0.03 [[ 9.89786142e-01 -1.42560140e-01 0.00000000e+00 1.26217070e+02] [ 1.42560140e-01 9.89786142e-01 0.00000000e+00 3.38072796e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95906457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:3.38, Z:0.03 [[ 9.90060356e-01 -1.40643137e-01 0.00000000e+00 1.26246284e+02] [ 1.40643137e-01 9.90060356e-01 0.00000000e+00 3.38184812e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46319045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:3.39, Z:0.04 [[ 9.90202243e-01 -1.39640675e-01 0.00000000e+00 1.26273869e+02] [ 1.39640675e-01 9.90202243e-01 0.00000000e+00 3.38598695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64796445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.30, Y:3.39, Z:0.03 [[ 9.90423035e-01 -1.38065970e-01 0.00000000e+00 1.26300989e+02] [ 1.38065970e-01 9.90423035e-01 0.00000000e+00 3.39198739e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24427829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.33, Y:3.40, Z:0.03 [[ 9.90453484e-01 -1.37847363e-01 0.00000000e+00 1.26329116e+02] [ 1.37847363e-01 9.90453484e-01 0.00000000e+00 3.39889429e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02442725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.36, Y:3.41, Z:0.03 [[ 9.90485027e-01 -1.37620537e-01 0.00000000e+00 1.26355173e+02] [ 1.37620537e-01 9.90485027e-01 0.00000000e+00 3.40596893e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82571781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.38, Y:3.41, Z:0.03 [[ 9.90441566e-01 -1.37932972e-01 0.00000000e+00 1.26382965e+02] [ 1.37932972e-01 9.90441566e-01 0.00000000e+00 3.41366749e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16742280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.41, Y:3.42, Z:0.03 [[ 9.90396519e-01 -1.38256051e-01 0.00000000e+00 1.26410278e+02] [ 1.38256051e-01 9.90396519e-01 0.00000000e+00 3.41916044e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21504776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:3.42, Z:0.03 [[ 9.90279941e-01 -1.39088602e-01 0.00000000e+00 1.26439496e+02] [ 1.39088602e-01 9.90279941e-01 0.00000000e+00 3.42254664e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94260573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.47, Y:3.43, Z:0.03 [[ 9.89977334e-01 -1.41226333e-01 0.00000000e+00 1.26467262e+02] [ 1.41226333e-01 9.89977334e-01 0.00000000e+00 3.42757677e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07606740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.49, Y:3.44, Z:0.03 [[ 9.89769255e-01 -1.42677338e-01 0.00000000e+00 1.26494952e+02] [ 1.42677338e-01 9.89769255e-01 0.00000000e+00 3.43560500e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25923885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.52, Y:3.44, Z:0.03 [[ 9.89382651e-01 -1.45333995e-01 0.00000000e+00 1.26521842e+02] [ 1.45333995e-01 9.89382651e-01 0.00000000e+00 3.44429032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26052753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.55, Y:3.45, Z:0.03 [[ 9.89230975e-01 -1.46362830e-01 0.00000000e+00 1.26548478e+02] [ 1.46362830e-01 9.89230975e-01 0.00000000e+00 3.44805697e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15617726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.58, Y:3.45, Z:0.03 [[ 9.88938233e-01 -1.48327918e-01 0.00000000e+00 1.26576084e+02] [ 1.48327918e-01 9.88938233e-01 0.00000000e+00 3.44959423e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29756006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:3.45, Z:0.04 [[ 9.88766249e-01 -1.49470080e-01 0.00000000e+00 1.26603666e+02] [ 1.49470080e-01 9.88766249e-01 0.00000000e+00 3.45379876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55811090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.63, Y:3.46, Z:0.04 [[ 9.88738680e-01 -1.49652340e-01 0.00000000e+00 1.26631658e+02] [ 1.49652340e-01 9.88738680e-01 0.00000000e+00 3.45942417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55811090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.66, Y:3.46, Z:0.03 [[ 9.88285310e-01 -1.52617649e-01 0.00000000e+00 1.26658585e+02] [ 1.52617649e-01 9.88285310e-01 0.00000000e+00 3.46379553e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37446921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.69, Y:3.47, Z:0.03 [[ 9.87809879e-01 -1.55665165e-01 0.00000000e+00 1.26686880e+02] [ 1.55665165e-01 9.87809879e-01 0.00000000e+00 3.46966560e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16248665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.71, Y:3.47, Z:0.03 [[ 9.87708300e-01 -1.56308395e-01 0.00000000e+00 1.26714908e+02] [ 1.56308395e-01 9.87708300e-01 0.00000000e+00 3.47475935e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17680315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.74, Y:3.48, Z:0.03 [[ 9.87711963e-01 -1.56285244e-01 0.00000000e+00 1.26742443e+02] [ 1.56285244e-01 9.87711963e-01 0.00000000e+00 3.47898758e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30296715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.77, Y:3.48, Z:0.03 [[ 9.87926539e-01 -1.54923056e-01 0.00000000e+00 1.26770219e+02] [ 1.54923056e-01 9.87926539e-01 0.00000000e+00 3.48222082e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47912815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.80, Y:3.49, Z:0.03 [[ 9.88151852e-01 -1.53479372e-01 0.00000000e+00 1.26796597e+02] [ 1.53479372e-01 9.88151852e-01 0.00000000e+00 3.48635250e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32389992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.82, Y:3.49, Z:0.03 [[ 9.88838774e-01 -1.48989529e-01 0.00000000e+00 1.26824311e+02] [ 1.48989529e-01 9.88838774e-01 0.00000000e+00 3.48970576e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40119902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.85, Y:3.50, Z:0.04 [[ 9.89561112e-01 -1.44113867e-01 0.00000000e+00 1.26852035e+02] [ 1.44113867e-01 9.89561112e-01 0.00000000e+00 3.49730526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78834737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.88, Y:3.50, Z:0.03 [[ 9.89826901e-01 -1.42276864e-01 0.00000000e+00 1.26879428e+02] [ 1.42276864e-01 9.89826901e-01 0.00000000e+00 3.50406315e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35339658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.91, Y:3.51, Z:0.03 [[ 9.90165034e-01 -1.39904272e-01 0.00000000e+00 1.26907415e+02] [ 1.39904272e-01 9.90165034e-01 0.00000000e+00 3.50711313e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87078030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.94, Y:3.51, Z:0.03 [[ 9.90220942e-01 -1.39508015e-01 0.00000000e+00 1.26935257e+02] [ 1.39508015e-01 9.90220942e-01 0.00000000e+00 3.51129546e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10282243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:3.52, Z:0.03 [[ 9.90278939e-01 -1.39095732e-01 0.00000000e+00 1.26961763e+02] [ 1.39095732e-01 9.90278939e-01 0.00000000e+00 3.51825455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16668767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:3.53, Z:0.03 [[ 9.90253373e-01 -1.39277624e-01 0.00000000e+00 1.26989321e+02] [ 1.39277624e-01 9.90253373e-01 0.00000000e+00 3.52544241e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11704028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:3.53, Z:0.03 [[ 9.90294355e-01 -1.38985938e-01 0.00000000e+00 1.27017417e+02] [ 1.38985938e-01 9.90294355e-01 0.00000000e+00 3.53347737e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21667307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:3.54, Z:0.03 [[ 9.90389181e-01 -1.38308603e-01 0.00000000e+00 1.27044307e+02] [ 1.38308603e-01 9.90389181e-01 0.00000000e+00 3.54091764e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03624737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.07, Y:3.55, Z:0.03 [[ 9.90666491e-01 -1.36308117e-01 0.00000000e+00 1.27071356e+02] [ 1.36308117e-01 9.90666491e-01 0.00000000e+00 3.54852320e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13801185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:3.56, Z:0.03 [[ 9.90801108e-01 -1.35326143e-01 0.00000000e+00 1.27099480e+02] [ 1.35326143e-01 9.90801108e-01 0.00000000e+00 3.55628832e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18211112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.13, Y:3.56, Z:0.03 [[ 9.90752645e-01 -1.35680498e-01 0.00000000e+00 1.27126732e+02] [ 1.35680498e-01 9.90752645e-01 0.00000000e+00 3.56386703e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96213361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:3.58, Z:0.03 [[ 9.90369006e-01 -1.38452993e-01 0.00000000e+00 1.27152151e+02] [ 1.38452993e-01 9.90369006e-01 0.00000000e+00 3.57758620e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94969326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.18, Y:3.59, Z:0.03 [[ 9.90099068e-01 -1.40370353e-01 0.00000000e+00 1.27177976e+02] [ 1.40370353e-01 9.90099068e-01 0.00000000e+00 3.58757026e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69693425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:3.60, Z:0.03 [[ 9.89285405e-01 -1.45994477e-01 0.00000000e+00 1.27205790e+02] [ 1.45994477e-01 9.89285405e-01 0.00000000e+00 3.59747588e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01750303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:3.60, Z:0.03 [[ 9.88732698e-01 -1.49691856e-01 0.00000000e+00 1.27233237e+02] [ 1.49691856e-01 9.88732698e-01 0.00000000e+00 3.60292205e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33959915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:3.61, Z:0.03 [[ 9.87428833e-01 -1.58064226e-01 0.00000000e+00 1.27259683e+02] [ 1.58064226e-01 9.87428833e-01 0.00000000e+00 3.61100463e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43483348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:3.62, Z:0.03 [[ 9.86802649e-01 -1.61927551e-01 0.00000000e+00 1.27286876e+02] [ 1.61927551e-01 9.86802649e-01 0.00000000e+00 3.61976225e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39509392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.31, Y:3.63, Z:0.04 [[ 9.85584120e-01 -1.69186117e-01 0.00000000e+00 1.27314104e+02] [ 1.69186117e-01 9.85584120e-01 0.00000000e+00 3.63030136e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61363170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.34, Y:3.64, Z:0.04 [[ 9.84328135e-01 -1.76346598e-01 0.00000000e+00 1.27340901e+02] [ 1.76346598e-01 9.84328135e-01 0.00000000e+00 3.63669774e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60922967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:3.64, Z:0.04 [[ 9.83681124e-01 -1.79920666e-01 0.00000000e+00 1.27368025e+02] [ 1.79920666e-01 9.83681124e-01 0.00000000e+00 3.64161894e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71630677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.40, Y:3.65, Z:0.03 [[ 9.82700950e-01 -1.85199466e-01 0.00000000e+00 1.27395808e+02] [ 1.85199466e-01 9.82700950e-01 0.00000000e+00 3.64734183e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46230478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:3.65, Z:0.03 [[ 9.82427078e-01 -1.86646821e-01 0.00000000e+00 1.27423148e+02] [ 1.86646821e-01 9.82427078e-01 0.00000000e+00 3.65482750e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45664764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:3.67, Z:0.03 [[ 9.82406516e-01 -1.86755020e-01 0.00000000e+00 1.27448991e+02] [ 1.86755020e-01 9.82406516e-01 0.00000000e+00 3.66704731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25445262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.48, Y:3.68, Z:0.03 [[ 9.82820851e-01 -1.84562117e-01 0.00000000e+00 1.27475553e+02] [ 1.84562117e-01 9.82820851e-01 0.00000000e+00 3.67581494e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26395725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.50, Y:3.68, Z:0.03 [[ 9.83112008e-01 -1.83004864e-01 0.00000000e+00 1.27501844e+02] [ 1.83004864e-01 9.83112008e-01 0.00000000e+00 3.68070140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06909568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:3.69, Z:0.03 [[ 9.83361323e-01 -1.81660418e-01 0.00000000e+00 1.27529787e+02] [ 1.81660418e-01 9.83361323e-01 0.00000000e+00 3.68602520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18273784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:3.69, Z:0.03 [[ 9.83757912e-01 -1.79500339e-01 0.00000000e+00 1.27557985e+02] [ 1.79500339e-01 9.83757912e-01 0.00000000e+00 3.69303977e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27441595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:3.70, Z:0.03 [[ 9.83699875e-01 -1.79818121e-01 0.00000000e+00 1.27586649e+02] [ 1.79818121e-01 9.83699875e-01 0.00000000e+00 3.69866139e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06530478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:3.70, Z:0.03 [[ 9.83592652e-01 -1.80403701e-01 0.00000000e+00 1.27613936e+02] [ 1.80403701e-01 9.83592652e-01 0.00000000e+00 3.70421429e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02022100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:3.71, Z:0.03 [[ 9.83235782e-01 -1.82338689e-01 0.00000000e+00 1.27642799e+02] [ 1.82338689e-01 9.83235782e-01 0.00000000e+00 3.70710056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38920870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:3.71, Z:0.04 [[ 9.83088758e-01 -1.83129720e-01 0.00000000e+00 1.27670103e+02] [ 1.83129720e-01 9.83088758e-01 0.00000000e+00 3.71002027e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56547426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:3.71, Z:0.04 [[ 9.82938624e-01 -1.83933850e-01 0.00000000e+00 1.27697450e+02] [ 1.83933850e-01 9.82938624e-01 0.00000000e+00 3.71270227e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74861490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:3.72, Z:0.04 [[ 9.82987411e-01 -1.83672942e-01 0.00000000e+00 1.27725442e+02] [ 1.83672942e-01 9.82987411e-01 0.00000000e+00 3.71627503e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56993077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:3.72, Z:0.04 [[ 9.83157912e-01 -1.82758094e-01 0.00000000e+00 1.27752510e+02] [ 1.82758094e-01 9.83157912e-01 0.00000000e+00 3.71959506e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50543677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:3.72, Z:0.04 [[ 9.83889369e-01 -1.78778383e-01 0.00000000e+00 1.27780201e+02] [ 1.78778383e-01 9.83889369e-01 0.00000000e+00 3.71655382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58200860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.81, Y:3.72, Z:0.04 [[ 9.84370499e-01 -1.76109966e-01 0.00000000e+00 1.27809922e+02] [ 1.76109966e-01 9.84370499e-01 0.00000000e+00 3.71776516e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54900860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.84, Y:3.72, Z:0.03 [[ 9.85472349e-01 -1.69835950e-01 0.00000000e+00 1.27839298e+02] [ 1.69835950e-01 9.85472349e-01 0.00000000e+00 3.72025268e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20964431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.87, Y:3.73, Z:0.03 [[ 9.86054661e-01 -1.66421767e-01 0.00000000e+00 1.27866109e+02] [ 1.66421767e-01 9.86054661e-01 0.00000000e+00 3.72804781e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04243105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.89, Y:3.74, Z:0.02 [[ 9.86653201e-01 -1.62835690e-01 0.00000000e+00 1.27893028e+02] [ 1.62835690e-01 9.86653201e-01 0.00000000e+00 3.73601476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43437788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:3.74, Z:0.02 [[ 9.87668291e-01 -1.56560998e-01 0.00000000e+00 1.27920941e+02] [ 1.56560998e-01 9.87668291e-01 0.00000000e+00 3.74151063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18448967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:3.74, Z:0.03 [[ 9.88529194e-01 -1.51029904e-01 0.00000000e+00 1.27949211e+02] [ 1.51029904e-01 9.88529194e-01 0.00000000e+00 3.74385931e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53992400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.98, Y:3.75, Z:0.03 [[ 9.88839357e-01 -1.48985655e-01 0.00000000e+00 1.27977306e+02] [ 1.48985655e-01 9.88839357e-01 0.00000000e+00 3.74904673e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01528384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.00, Y:3.76, Z:0.03 [[ 9.89348673e-01 -1.45565114e-01 0.00000000e+00 1.28003426e+02] [ 1.45565114e-01 9.89348673e-01 0.00000000e+00 3.75989402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95671306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.03, Y:3.77, Z:0.03 [[ 9.89664102e-01 -1.43404897e-01 0.00000000e+00 1.28030925e+02] [ 1.43404897e-01 9.89664102e-01 0.00000000e+00 3.77049568e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65328154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.06, Y:3.78, Z:0.02 [[ 9.89958078e-01 -1.41361251e-01 0.00000000e+00 1.28056825e+02] [ 1.41361251e-01 9.89958078e-01 0.00000000e+00 3.78417682e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13839455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.08, Y:3.79, Z:0.02 [[ 9.89882843e-01 -1.41887130e-01 0.00000000e+00 1.28083450e+02] [ 1.41887130e-01 9.89882843e-01 0.00000000e+00 3.79122297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13163509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.11, Y:3.80, Z:0.03 [[ 9.89386095e-01 -1.45310547e-01 0.00000000e+00 1.28110428e+02] [ 1.45310547e-01 9.89386095e-01 0.00000000e+00 3.80014746e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09241538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.14, Y:3.81, Z:0.04 [[ 9.88509150e-01 -1.51161039e-01 0.00000000e+00 1.28137678e+02] [ 1.51161039e-01 9.88509150e-01 0.00000000e+00 3.81177627e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82942910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.16, Y:3.82, Z:0.04 [[ 9.87914008e-01 -1.55002942e-01 0.00000000e+00 1.28164356e+02] [ 1.55002942e-01 9.87914008e-01 0.00000000e+00 3.82045772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77424402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.19, Y:3.83, Z:0.03 [[ 9.86651332e-01 -1.62847013e-01 0.00000000e+00 1.28190774e+02] [ 1.62847013e-01 9.86651332e-01 0.00000000e+00 3.82888929e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30867051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.22, Y:3.84, Z:0.03 [[ 9.85877892e-01 -1.67465766e-01 0.00000000e+00 1.28217632e+02] [ 1.67465766e-01 9.85877892e-01 0.00000000e+00 3.83545249e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24390846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.24, Y:3.84, Z:0.03 [[ 9.84045669e-01 -1.77916051e-01 0.00000000e+00 1.28244085e+02] [ 1.77916051e-01 9.84045669e-01 0.00000000e+00 3.84287428e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64756257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.27, Y:3.85, Z:0.02 [[ 9.83099555e-01 -1.83071750e-01 0.00000000e+00 1.28272532e+02] [ 1.83071750e-01 9.83099555e-01 0.00000000e+00 3.84963099e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32470051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.30, Y:3.86, Z:0.02 [[ 9.81561683e-01 -1.91145656e-01 0.00000000e+00 1.28299372e+02] [ 1.91145656e-01 9.81561683e-01 0.00000000e+00 3.85632689e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96776158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.33, Y:3.86, Z:0.02 [[ 9.81003179e-01 -1.93991656e-01 0.00000000e+00 1.28327917e+02] [ 1.93991656e-01 9.81003179e-01 0.00000000e+00 3.86139299e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40120357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.36, Y:3.86, Z:0.03 [[ 9.80602317e-01 -1.96007900e-01 0.00000000e+00 1.28355824e+02] [ 1.96007900e-01 9.80602317e-01 0.00000000e+00 3.86444669e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66362100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.38, Y:3.87, Z:0.03 [[ 9.81081300e-01 -1.93596184e-01 0.00000000e+00 1.28382842e+02] [ 1.93596184e-01 9.81081300e-01 0.00000000e+00 3.87214980e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81385131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.41, Y:3.88, Z:0.03 [[ 9.81043612e-01 -1.93787076e-01 0.00000000e+00 1.28410774e+02] [ 1.93787076e-01 9.81043612e-01 0.00000000e+00 3.87802746e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81385131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.44, Y:3.89, Z:0.03 [[ 9.81465240e-01 -1.91640243e-01 0.00000000e+00 1.28437439e+02] [ 1.91640243e-01 9.81465240e-01 0.00000000e+00 3.88557148e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71665927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.46, Y:3.89, Z:0.02 [[ 9.82438791e-01 -1.86585162e-01 0.00000000e+00 1.28463664e+02] [ 1.86585162e-01 9.82438791e-01 0.00000000e+00 3.89132287e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45601324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.49, Y:3.90, Z:0.03 [[ 9.82877327e-01 -1.84261119e-01 0.00000000e+00 1.28491265e+02] [ 1.84261119e-01 9.82877327e-01 0.00000000e+00 3.89672127e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65253433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.52, Y:3.90, Z:0.03 [[ 9.83717098e-01 -1.79723873e-01 0.00000000e+00 1.28518265e+02] [ 1.79723873e-01 9.83717098e-01 0.00000000e+00 3.90370602e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66794219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:3.91, Z:0.03 [[ 9.84025738e-01 -1.78026254e-01 0.00000000e+00 1.28544785e+02] [ 1.78026254e-01 9.84025738e-01 0.00000000e+00 3.91141103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69330707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.57, Y:3.92, Z:0.03 [[ 9.84590316e-01 -1.74876839e-01 0.00000000e+00 1.28572114e+02] [ 1.74876839e-01 9.84590316e-01 0.00000000e+00 3.91889282e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54341084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.60, Y:3.92, Z:0.03 [[ 9.84733570e-01 -1.74068364e-01 0.00000000e+00 1.28600057e+02] [ 1.74068364e-01 9.84733570e-01 0.00000000e+00 3.92266785e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62610703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.63, Y:3.93, Z:0.03 [[ 9.85050571e-01 -1.72265413e-01 0.00000000e+00 1.28627590e+02] [ 1.72265413e-01 9.85050571e-01 0.00000000e+00 3.92640245e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91016005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.66, Y:3.93, Z:0.03 [[ 9.85106643e-01 -1.71944476e-01 0.00000000e+00 1.28655809e+02] [ 1.71944476e-01 9.85106643e-01 0.00000000e+00 3.93457466e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19078461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.68, Y:3.94, Z:0.03 [[ 9.85240302e-01 -1.71176947e-01 0.00000000e+00 1.28682430e+02] [ 1.71176947e-01 9.85240302e-01 0.00000000e+00 3.94410430e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33342474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.71, Y:3.95, Z:0.03 [[ 9.85261983e-01 -1.71052114e-01 0.00000000e+00 1.28709491e+02] [ 1.71052114e-01 9.85261983e-01 0.00000000e+00 3.95112486e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23536789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.74, Y:3.96, Z:0.03 [[ 9.85466218e-01 -1.69871518e-01 0.00000000e+00 1.28736535e+02] [ 1.69871518e-01 9.85466218e-01 0.00000000e+00 3.95596978e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70443538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.76, Y:3.96, Z:0.03 [[ 9.85551426e-01 -1.69376462e-01 0.00000000e+00 1.28764145e+02] [ 1.69376462e-01 9.85551426e-01 0.00000000e+00 3.96057383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75447002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.79, Y:3.97, Z:0.03 [[ 9.85552024e-01 -1.69372982e-01 0.00000000e+00 1.28791378e+02] [ 1.69372982e-01 9.85552024e-01 0.00000000e+00 3.96510268e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30745665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:3.98, Z:0.03 [[ 9.85394051e-01 -1.70289649e-01 0.00000000e+00 1.28817834e+02] [ 1.70289649e-01 9.85394051e-01 0.00000000e+00 3.97572806e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23203028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.85, Y:3.98, Z:0.03 [[ 9.85154914e-01 -1.71667690e-01 0.00000000e+00 1.28845421e+02] [ 1.71667690e-01 9.85154914e-01 0.00000000e+00 3.98417683e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87101680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.87, Y:3.99, Z:0.03 [[ 9.84552728e-01 -1.75088337e-01 0.00000000e+00 1.28873472e+02] [ 1.75088337e-01 9.84552728e-01 0.00000000e+00 3.98545728e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01161217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.90, Y:3.99, Z:0.03 [[ 9.84282970e-01 -1.76598512e-01 0.00000000e+00 1.28901615e+02] [ 1.76598512e-01 9.84282970e-01 0.00000000e+00 3.98632382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38316914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.93, Y:3.99, Z:0.03 [[ 9.83759411e-01 -1.79492119e-01 0.00000000e+00 1.28928249e+02] [ 1.79492119e-01 9.83759411e-01 0.00000000e+00 3.98851683e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39326995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.96, Y:4.00, Z:0.03 [[ 9.83551327e-01 -1.80628867e-01 0.00000000e+00 1.28956305e+02] [ 1.80628867e-01 9.83551327e-01 0.00000000e+00 3.99576679e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10230023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.98, Y:4.00, Z:0.03 [[ 9.83407849e-01 -1.81408385e-01 0.00000000e+00 1.28982759e+02] [ 1.81408385e-01 9.83407849e-01 0.00000000e+00 4.00404780e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76507462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.01, Y:4.01, Z:0.03 [[ 9.83469064e-01 -1.81076226e-01 0.00000000e+00 1.29010812e+02] [ 1.81076226e-01 9.83469064e-01 0.00000000e+00 4.00664288e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68040770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:4.01, Z:0.03 [[ 9.83485202e-01 -1.80988556e-01 0.00000000e+00 1.29038970e+02] [ 1.80988556e-01 9.83485202e-01 0.00000000e+00 4.00926981e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73006531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.07, Y:4.01, Z:0.03 [[ 9.83595081e-01 -1.80390456e-01 0.00000000e+00 1.29067809e+02] [ 1.80390456e-01 9.83595081e-01 0.00000000e+00 4.01152353e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14400354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.09, Y:4.02, Z:0.03 [[ 9.83764045e-01 -1.79466721e-01 0.00000000e+00 1.29093996e+02] [ 1.79466721e-01 9.83764045e-01 0.00000000e+00 4.01773859e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16457721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.12, Y:4.03, Z:0.03 [[ 9.84382961e-01 -1.76040296e-01 0.00000000e+00 1.29120888e+02] [ 1.76040296e-01 9.84382961e-01 0.00000000e+00 4.02527184e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81841207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.15, Y:4.03, Z:0.03 [[ 9.84654788e-01 -1.74513463e-01 0.00000000e+00 1.29148476e+02] [ 1.74513463e-01 9.84654788e-01 0.00000000e+00 4.03040440e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81109739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.18, Y:4.03, Z:0.03 [[ 9.85013992e-01 -1.72474451e-01 0.00000000e+00 1.29176898e+02] [ 1.72474451e-01 9.85013992e-01 0.00000000e+00 4.03361196e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21569751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.21, Y:4.04, Z:0.03 [[ 9.85062764e-01 -1.72195678e-01 0.00000000e+00 1.29205731e+02] [ 1.72195678e-01 9.85062764e-01 0.00000000e+00 4.03836256e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04484212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.23, Y:4.04, Z:0.03 [[ 9.84973113e-01 -1.72707748e-01 0.00000000e+00 1.29233538e+02] [ 1.72707748e-01 9.84973113e-01 0.00000000e+00 4.04400778e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53580237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.26, Y:4.05, Z:0.03 [[ 9.84666452e-01 -1.74447635e-01 0.00000000e+00 1.29261427e+02] [ 1.74447635e-01 9.84666452e-01 0.00000000e+00 4.05046835e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94667176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.29, Y:4.06, Z:0.03 [[ 9.84525601e-01 -1.75240811e-01 0.00000000e+00 1.29290024e+02] [ 1.75240811e-01 9.84525601e-01 0.00000000e+00 4.05679352e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89502138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.32, Y:4.06, Z:0.03 [[ 9.84425973e-01 -1.75799613e-01 0.00000000e+00 1.29317553e+02] [ 1.75799613e-01 9.84425973e-01 0.00000000e+00 4.06269962e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61248260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.35, Y:4.07, Z:0.03 [[ 9.84363400e-01 -1.76149643e-01 0.00000000e+00 1.29345927e+02] [ 1.76149643e-01 9.84363400e-01 0.00000000e+00 4.06863339e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91320785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.37, Y:4.07, Z:0.03 [[ 9.84269850e-01 -1.76671621e-01 0.00000000e+00 1.29373419e+02] [ 1.76671621e-01 9.84269850e-01 0.00000000e+00 4.07465680e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21851670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.40, Y:4.08, Z:0.03 [[ 9.84114168e-01 -1.77536771e-01 0.00000000e+00 1.29400533e+02] [ 1.77536771e-01 9.84114168e-01 0.00000000e+00 4.07639893e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17975008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.43, Y:4.08, Z:0.03 [[ 9.83853525e-01 -1.78975535e-01 0.00000000e+00 1.29428915e+02] [ 1.78975535e-01 9.83853525e-01 0.00000000e+00 4.07920126e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40227251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.46, Y:4.08, Z:0.03 [[ 9.82880268e-01 -1.84245432e-01 0.00000000e+00 1.29456561e+02] [ 1.84245432e-01 9.82880268e-01 0.00000000e+00 4.08350249e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22386759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.48, Y:4.09, Z:0.03 [[ 9.82303979e-01 -1.87293599e-01 0.00000000e+00 1.29484530e+02] [ 1.87293599e-01 9.82303979e-01 0.00000000e+00 4.08993683e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88953961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.51, Y:4.09, Z:0.02 [[ 9.81302825e-01 -1.92470167e-01 0.00000000e+00 1.29512507e+02] [ 1.92470167e-01 9.81302825e-01 0.00000000e+00 4.09138332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39766479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.54, Y:4.09, Z:0.03 [[ 9.80979420e-01 -1.94111767e-01 0.00000000e+00 1.29540670e+02] [ 1.94111767e-01 9.80979420e-01 0.00000000e+00 4.09260749e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61935199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.57, Y:4.09, Z:0.03 [[ 9.81029074e-01 -1.93860660e-01 0.00000000e+00 1.29570937e+02] [ 1.93860660e-01 9.81029074e-01 0.00000000e+00 4.08948366e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14704846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.60, Y:4.09, Z:0.03 [[ 9.81290294e-01 -1.92534047e-01 0.00000000e+00 1.29599162e+02] [ 1.92534047e-01 9.81290294e-01 0.00000000e+00 4.09260117e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26888867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.63, Y:4.10, Z:0.03 [[ 9.82268480e-01 -1.87479689e-01 0.00000000e+00 1.29627201e+02] [ 1.87479689e-01 9.82268480e-01 0.00000000e+00 4.09724588e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33177851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:4.10, Z:0.03 [[ 9.83703427e-01 -1.79798685e-01 0.00000000e+00 1.29655437e+02] [ 1.79798685e-01 9.83703427e-01 0.00000000e+00 4.09953730e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83624013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:4.10, Z:0.03 [[ 9.84312227e-01 -1.76435367e-01 0.00000000e+00 1.29684532e+02] [ 1.76435367e-01 9.84312227e-01 0.00000000e+00 4.10298370e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75442668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.71, Y:4.11, Z:0.02 [[ 9.85422024e-01 -1.70127698e-01 0.00000000e+00 1.29712484e+02] [ 1.70127698e-01 9.85422024e-01 0.00000000e+00 4.10710156e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35903798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.74, Y:4.11, Z:0.02 [[ 9.85782513e-01 -1.68026300e-01 0.00000000e+00 1.29740287e+02] [ 1.68026300e-01 9.85782513e-01 0.00000000e+00 4.11265378e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44003224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.77, Y:4.12, Z:0.02 [[ 9.86169547e-01 -1.65739629e-01 0.00000000e+00 1.29768360e+02] [ 1.65739629e-01 9.86169547e-01 0.00000000e+00 4.11570668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37460796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.80, Y:4.12, Z:0.02 [[ 9.86312201e-01 -1.64888577e-01 0.00000000e+00 1.29795920e+02] [ 1.64888577e-01 9.86312201e-01 0.00000000e+00 4.11986365e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34687858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.82, Y:4.12, Z:0.02 [[ 9.86586696e-01 -1.63238146e-01 0.00000000e+00 1.29824222e+02] [ 1.63238146e-01 9.86586696e-01 0.00000000e+00 4.12234792e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42454679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.85, Y:4.13, Z:0.02 [[ 9.86740893e-01 -1.62303451e-01 0.00000000e+00 1.29850243e+02] [ 1.62303451e-01 9.86740893e-01 0.00000000e+00 4.12826778e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35892988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.88, Y:4.14, Z:0.02 [[ 9.87029338e-01 -1.60539985e-01 0.00000000e+00 1.29878400e+02] [ 1.60539985e-01 9.87029338e-01 0.00000000e+00 4.13680758e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04732351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.91, Y:4.14, Z:0.02 [[ 9.87105577e-01 -1.60070546e-01 0.00000000e+00 1.29906340e+02] [ 1.60070546e-01 9.87105577e-01 0.00000000e+00 4.13902753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87153081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.94, Y:4.14, Z:0.02 [[ 9.87063028e-01 -1.60332710e-01 0.00000000e+00 1.29935194e+02] [ 1.60332710e-01 9.87063028e-01 0.00000000e+00 4.14207512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27996777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.96, Y:4.15, Z:0.02 [[ 9.86773885e-01 -1.62102743e-01 0.00000000e+00 1.29963309e+02] [ 1.62102743e-01 9.86773885e-01 0.00000000e+00 4.14533642e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29301010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.99, Y:4.15, Z:0.02 [[ 9.86427389e-01 -1.64198067e-01 0.00000000e+00 1.29990241e+02] [ 1.64198067e-01 9.86427389e-01 0.00000000e+00 4.15174808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34827780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.02, Y:4.16, Z:0.02 [[ 9.85718501e-01 -1.68401414e-01 0.00000000e+00 1.30017350e+02] [ 1.68401414e-01 9.85718501e-01 0.00000000e+00 4.16018237e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07302039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.04, Y:4.17, Z:0.02 [[ 9.85490692e-01 -1.69729481e-01 0.00000000e+00 1.30044378e+02] [ 1.69729481e-01 9.85490692e-01 0.00000000e+00 4.16593417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07466387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.07, Y:4.17, Z:0.02 [[ 9.85148249e-01 -1.71705931e-01 0.00000000e+00 1.30073168e+02] [ 1.71705931e-01 9.85148249e-01 0.00000000e+00 4.16622683e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31158343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.10, Y:4.17, Z:0.02 [[ 9.84975327e-01 -1.72695121e-01 0.00000000e+00 1.30102233e+02] [ 1.72695121e-01 9.84975327e-01 0.00000000e+00 4.16819372e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12655375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.13, Y:4.17, Z:0.02 [[ 9.84944280e-01 -1.72872107e-01 0.00000000e+00 1.30130128e+02] [ 1.72872107e-01 9.84944280e-01 0.00000000e+00 4.17427926e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12655375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.16, Y:4.18, Z:0.02 [[ 9.84856407e-01 -1.73372021e-01 0.00000000e+00 1.30157740e+02] [ 1.73372021e-01 9.84856407e-01 0.00000000e+00 4.17917404e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79366376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.19, Y:4.19, Z:0.02 [[ 9.84958988e-01 -1.72788288e-01 0.00000000e+00 1.30185143e+02] [ 1.72788288e-01 9.84958988e-01 0.00000000e+00 4.19057076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72547373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.21, Y:4.20, Z:0.02 [[ 9.84947333e-01 -1.72854712e-01 0.00000000e+00 1.30213512e+02] [ 1.72854712e-01 9.84947333e-01 0.00000000e+00 4.19810052e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50507779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.24, Y:4.20, Z:0.01 [[ 9.84968069e-01 -1.72736515e-01 0.00000000e+00 1.30240525e+02] [ 1.72736515e-01 9.84968069e-01 0.00000000e+00 4.20402290e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05925158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.27, Y:4.21, Z:0.01 [[ 9.85034771e-01 -1.72355736e-01 0.00000000e+00 1.30267657e+02] [ 1.72355736e-01 9.85034771e-01 0.00000000e+00 4.20919693e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13432292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.30, Y:4.22, Z:0.02 [[ 9.85370469e-01 -1.70426054e-01 0.00000000e+00 1.30295357e+02] [ 1.70426054e-01 9.85370469e-01 0.00000000e+00 4.21501901e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79905478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.32, Y:4.22, Z:0.02 [[ 9.85558833e-01 -1.69333357e-01 0.00000000e+00 1.30323062e+02] [ 1.69333357e-01 9.85558833e-01 0.00000000e+00 4.22259681e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09612923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.35, Y:4.23, Z:0.02 [[ 9.85689824e-01 -1.68569189e-01 0.00000000e+00 1.30349466e+02] [ 1.68569189e-01 9.85689824e-01 0.00000000e+00 4.23376998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30185895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.38, Y:4.24, Z:0.02 [[ 9.85391412e-01 -1.70304917e-01 0.00000000e+00 1.30377147e+02] [ 1.70304917e-01 9.85391412e-01 0.00000000e+00 4.24273777e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40587924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.40, Y:4.25, Z:0.02 [[ 9.85209000e-01 -1.71357015e-01 0.00000000e+00 1.30403618e+02] [ 1.71357015e-01 9.85209000e-01 0.00000000e+00 4.24872604e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20531115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.43, Y:4.26, Z:0.02 [[ 9.84729777e-01 -1.74089825e-01 0.00000000e+00 1.30431339e+02] [ 1.74089825e-01 9.84729777e-01 0.00000000e+00 4.25569421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83792933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.46, Y:4.26, Z:0.02 [[ 9.84434531e-01 -1.75751681e-01 0.00000000e+00 1.30458062e+02] [ 1.75751681e-01 9.84434531e-01 0.00000000e+00 4.26197322e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65457484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.49, Y:4.27, Z:0.01 [[ 9.83921931e-01 -1.78599087e-01 0.00000000e+00 1.30486118e+02] [ 1.78599087e-01 9.83921931e-01 0.00000000e+00 4.26920056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45388765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.51, Y:4.28, Z:0.01 [[ 9.83768760e-01 -1.79440873e-01 0.00000000e+00 1.30513459e+02] [ 1.79440873e-01 9.83768760e-01 0.00000000e+00 4.27518103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27425105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.54, Y:4.28, Z:0.01 [[ 9.83758149e-01 -1.79499038e-01 0.00000000e+00 1.30541654e+02] [ 1.79499038e-01 9.83758149e-01 0.00000000e+00 4.28151519e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41578150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.57, Y:4.29, Z:0.01 [[ 9.83754236e-01 -1.79520480e-01 0.00000000e+00 1.30569076e+02] [ 1.79520480e-01 9.83754236e-01 0.00000000e+00 4.28955298e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39373673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.60, Y:4.30, Z:0.01 [[ 9.83858859e-01 -1.78946208e-01 0.00000000e+00 1.30595444e+02] [ 1.78946208e-01 9.83858859e-01 0.00000000e+00 4.29919391e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16413863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.62, Y:4.31, Z:0.02 [[ 9.84124426e-01 -1.77479897e-01 0.00000000e+00 1.30621992e+02] [ 1.77479897e-01 9.84124426e-01 0.00000000e+00 4.30556073e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69100123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.65, Y:4.31, Z:0.02 [[ 9.84323030e-01 -1.76375089e-01 0.00000000e+00 1.30650029e+02] [ 1.76375089e-01 9.84323030e-01 0.00000000e+00 4.31289746e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08980903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.68, Y:4.32, Z:0.02 [[ 9.84675494e-01 -1.74396594e-01 0.00000000e+00 1.30675453e+02] [ 1.74396594e-01 9.84675494e-01 0.00000000e+00 4.32089766e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03575752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.70, Y:4.33, Z:0.02 [[ 9.84834762e-01 -1.73494933e-01 0.00000000e+00 1.30702280e+02] [ 1.73494933e-01 9.84834762e-01 0.00000000e+00 4.32721330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91915889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.73, Y:4.34, Z:0.02 [[ 9.85239073e-01 -1.71184024e-01 0.00000000e+00 1.30730042e+02] [ 1.71184024e-01 9.85239073e-01 0.00000000e+00 4.33537120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13457296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.76, Y:4.35, Z:0.02 [[ 9.85479605e-01 -1.69793841e-01 0.00000000e+00 1.30756391e+02] [ 1.69793841e-01 9.85479605e-01 0.00000000e+00 4.34647900e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02657115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.78, Y:4.35, Z:0.02 [[ 9.85374953e-01 -1.70400123e-01 0.00000000e+00 1.30783885e+02] [ 1.70400123e-01 9.85374953e-01 0.00000000e+00 4.35483648e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79996478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.81, Y:4.36, Z:0.02 [[ 9.84910969e-01 -1.73061790e-01 0.00000000e+00 1.30812073e+02] [ 1.73061790e-01 9.84910969e-01 0.00000000e+00 4.35836107e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53944691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.84, Y:4.36, Z:0.02 [[ 9.84506113e-01 -1.75350261e-01 0.00000000e+00 1.30840504e+02] [ 1.75350261e-01 9.84506113e-01 0.00000000e+00 4.36097057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03222111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.87, Y:4.37, Z:0.03 [[ 9.83769432e-01 -1.79437189e-01 0.00000000e+00 1.30869149e+02] [ 1.79437189e-01 9.83769432e-01 0.00000000e+00 4.36596832e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52854839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.90, Y:4.37, Z:0.02 [[ 9.83365827e-01 -1.81636037e-01 0.00000000e+00 1.30895966e+02] [ 1.81636037e-01 9.83365827e-01 0.00000000e+00 4.37429202e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86038922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.92, Y:4.38, Z:0.02 [[ 9.83161343e-01 -1.82739634e-01 0.00000000e+00 1.30922920e+02] [ 1.82739634e-01 9.83161343e-01 0.00000000e+00 4.37878873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75023101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.95, Y:4.38, Z:0.02 [[ 9.82927638e-01 -1.83992549e-01 0.00000000e+00 1.30951427e+02] [ 1.83992549e-01 9.82927638e-01 0.00000000e+00 4.38168144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99504487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:4.39, Z:0.02 [[ 9.82888254e-01 -1.84202825e-01 0.00000000e+00 1.30978660e+02] [ 1.84202825e-01 9.82888254e-01 0.00000000e+00 4.38674157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28259997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:4.39, Z:0.02 [[ 9.83232577e-01 -1.82355969e-01 0.00000000e+00 1.31006777e+02] [ 1.82355969e-01 9.83232577e-01 0.00000000e+00 4.39074289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04969526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:4.40, Z:0.02 [[ 9.83539127e-01 -1.80695286e-01 0.00000000e+00 1.31033742e+02] [ 1.80695286e-01 9.83539127e-01 0.00000000e+00 4.39625696e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86963727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:4.40, Z:0.02 [[ 9.84006547e-01 -1.78132299e-01 0.00000000e+00 1.31061370e+02] [ 1.78132299e-01 9.84006547e-01 0.00000000e+00 4.40001305e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87664339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:4.40, Z:0.02 [[ 9.84142041e-01 -1.77382195e-01 0.00000000e+00 1.31090051e+02] [ 1.77382195e-01 9.84142041e-01 0.00000000e+00 4.40395032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36371741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:4.41, Z:0.02 [[ 9.84281978e-01 -1.76604041e-01 0.00000000e+00 1.31116811e+02] [ 1.76604041e-01 9.84281978e-01 0.00000000e+00 4.41067409e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49025781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.15, Y:4.42, Z:0.02 [[ 9.84407678e-01 -1.75902029e-01 0.00000000e+00 1.31145231e+02] [ 1.75902029e-01 9.84407678e-01 0.00000000e+00 4.41742157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13378448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.17, Y:4.42, Z:0.02 [[ 9.84383580e-01 -1.76036835e-01 0.00000000e+00 1.31173399e+02] [ 1.76036835e-01 9.84383580e-01 0.00000000e+00 4.42134794e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82179871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.20, Y:4.42, Z:0.02 [[ 9.84423741e-01 -1.75812108e-01 0.00000000e+00 1.31202771e+02] [ 1.75812108e-01 9.84423741e-01 0.00000000e+00 4.42139512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27803840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.23, Y:4.43, Z:0.03 [[ 9.84431843e-01 -1.75766740e-01 0.00000000e+00 1.31230327e+02] [ 1.75766740e-01 9.84431843e-01 0.00000000e+00 4.42554739e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57616884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.26, Y:4.43, Z:0.03 [[ 9.84228698e-01 -1.76900735e-01 0.00000000e+00 1.31258507e+02] [ 1.76900735e-01 9.84228698e-01 0.00000000e+00 4.43179900e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69505480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.29, Y:4.44, Z:0.02 [[ 9.83889356e-01 -1.78778450e-01 0.00000000e+00 1.31285973e+02] [ 1.78778450e-01 9.83889356e-01 0.00000000e+00 4.43726300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26874579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.31, Y:4.44, Z:0.02 [[ 9.83625221e-01 -1.80226040e-01 0.00000000e+00 1.31313491e+02] [ 1.80226040e-01 9.83625221e-01 0.00000000e+00 4.44135027e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36475229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.34, Y:4.44, Z:0.03 [[ 9.83244067e-01 -1.82294005e-01 0.00000000e+00 1.31341805e+02] [ 1.82294005e-01 9.83244067e-01 0.00000000e+00 4.44033782e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60158571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:4.44, Z:0.03 [[ 9.83091243e-01 -1.83116379e-01 0.00000000e+00 1.31370439e+02] [ 1.83116379e-01 9.83091243e-01 0.00000000e+00 4.44199755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76805040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:4.44, Z:0.03 [[ 9.82886281e-01 -1.84213350e-01 0.00000000e+00 1.31399392e+02] [ 1.84213350e-01 9.82886281e-01 0.00000000e+00 4.44389286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91018056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.43, Y:4.45, Z:0.03 [[ 9.82918031e-01 -1.84043864e-01 0.00000000e+00 1.31426458e+02] [ 1.84043864e-01 9.82918031e-01 0.00000000e+00 4.45044113e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71844364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.45, Y:4.45, Z:0.03 [[ 9.82951544e-01 -1.83864795e-01 0.00000000e+00 1.31454709e+02] [ 1.83864795e-01 9.82951544e-01 0.00000000e+00 4.45465380e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63786802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.48, Y:4.46, Z:0.02 [[ 9.82925174e-01 -1.84005715e-01 0.00000000e+00 1.31481628e+02] [ 1.84005715e-01 9.82925174e-01 0.00000000e+00 4.45684299e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46556544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.51, Y:4.46, Z:0.03 [[ 9.83036466e-01 -1.83410216e-01 0.00000000e+00 1.31511297e+02] [ 1.83410216e-01 9.83036466e-01 0.00000000e+00 4.45535229e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88256822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.54, Y:4.46, Z:0.03 [[ 9.83236709e-01 -1.82333687e-01 0.00000000e+00 1.31539616e+02] [ 1.82333687e-01 9.83236709e-01 0.00000000e+00 4.45545258e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02646934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.57, Y:4.46, Z:0.03 [[ 9.83387584e-01 -1.81518207e-01 0.00000000e+00 1.31568447e+02] [ 1.81518207e-01 9.83387584e-01 0.00000000e+00 4.45997772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85262948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.60, Y:4.47, Z:0.03 [[ 9.83903382e-01 -1.78701247e-01 0.00000000e+00 1.31596243e+02] [ 1.78701247e-01 9.83903382e-01 0.00000000e+00 4.46521831e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55570275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.62, Y:4.47, Z:0.02 [[ 9.84177122e-01 -1.77187448e-01 0.00000000e+00 1.31624045e+02] [ 1.77187448e-01 9.84177122e-01 0.00000000e+00 4.46997191e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48689052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.65, Y:4.47, Z:0.02 [[ 9.84669540e-01 -1.74430208e-01 0.00000000e+00 1.31652366e+02] [ 1.74430208e-01 9.84669540e-01 0.00000000e+00 4.47153151e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23849341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.68, Y:4.48, Z:0.02 [[ 9.84782328e-01 -1.73792308e-01 0.00000000e+00 1.31679751e+02] [ 1.73792308e-01 9.84782328e-01 0.00000000e+00 4.47680518e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38909850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.71, Y:4.48, Z:0.03 [[ 9.85045599e-01 -1.72293840e-01 0.00000000e+00 1.31707633e+02] [ 1.72293840e-01 9.85045599e-01 0.00000000e+00 4.48446759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86783216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.74, Y:4.49, Z:0.03 [[ 9.85080841e-01 -1.72092235e-01 0.00000000e+00 1.31735056e+02] [ 1.72092235e-01 9.85080841e-01 0.00000000e+00 4.48925706e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91820278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.76, Y:4.49, Z:0.03 [[ 9.84909765e-01 -1.73068644e-01 0.00000000e+00 1.31762937e+02] [ 1.73068644e-01 9.84909765e-01 0.00000000e+00 4.49245144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97643085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.79, Y:4.50, Z:0.04 [[ 9.84055146e-01 -1.77863629e-01 0.00000000e+00 1.31790312e+02] [ 1.77863629e-01 9.84055146e-01 0.00000000e+00 4.49591120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64334284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.82, Y:4.50, Z:0.04 [[ 9.83446034e-01 -1.81201264e-01 0.00000000e+00 1.31818194e+02] [ 1.81201264e-01 9.83446034e-01 0.00000000e+00 4.50317373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95580190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.85, Y:4.51, Z:0.04 [[ 9.82295381e-01 -1.87338687e-01 0.00000000e+00 1.31845160e+02] [ 1.87338687e-01 9.82295381e-01 0.00000000e+00 4.50714289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52270180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:4.51, Z:0.03 [[ 9.81284836e-01 -1.92561862e-01 0.00000000e+00 1.31873887e+02] [ 1.92561862e-01 9.81284836e-01 0.00000000e+00 4.50509083e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14533823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.90, Y:4.51, Z:0.03 [[ 9.80857197e-01 -1.94728423e-01 0.00000000e+00 1.31902341e+02] [ 1.94728423e-01 9.80857197e-01 0.00000000e+00 4.50823293e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29245582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.93, Y:4.51, Z:0.03 [[ 9.80821932e-01 -1.94905971e-01 0.00000000e+00 1.31930198e+02] [ 1.94905971e-01 9.80821932e-01 0.00000000e+00 4.51454598e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29245582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.96, Y:4.52, Z:0.03 [[ 9.80345750e-01 -1.97287128e-01 0.00000000e+00 1.31958127e+02] [ 1.97287128e-01 9.80345750e-01 0.00000000e+00 4.51916150e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02238406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:4.53, Z:0.03 [[ 9.80233032e-01 -1.97846414e-01 0.00000000e+00 1.31985828e+02] [ 1.97846414e-01 9.80233032e-01 0.00000000e+00 4.52722802e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62125227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:4.53, Z:0.02 [[ 9.80301419e-01 -1.97507286e-01 0.00000000e+00 1.32012878e+02] [ 1.97507286e-01 9.80301419e-01 0.00000000e+00 4.53320299e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43891127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.04, Y:4.54, Z:0.02 [[ 9.80416757e-01 -1.96933955e-01 0.00000000e+00 1.32041242e+02] [ 1.96933955e-01 9.80416757e-01 0.00000000e+00 4.53701968e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46322864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.07, Y:4.54, Z:0.03 [[ 9.80923763e-01 -1.94392827e-01 0.00000000e+00 1.32070716e+02] [ 1.94392827e-01 9.80923763e-01 0.00000000e+00 4.53513732e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81876778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.10, Y:4.54, Z:0.03 [[ 9.81714299e-01 -1.90360275e-01 0.00000000e+00 1.32097212e+02] [ 1.90360275e-01 9.81714299e-01 0.00000000e+00 4.54238308e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27509132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.12, Y:4.55, Z:0.03 [[ 9.82071373e-01 -1.88509465e-01 0.00000000e+00 1.32124930e+02] [ 1.88509465e-01 9.82071373e-01 0.00000000e+00 4.55030757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34484112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:4.55, Z:0.03 [[ 9.82523711e-01 -1.86137469e-01 0.00000000e+00 1.32153512e+02] [ 1.86137469e-01 9.82523711e-01 0.00000000e+00 4.55314857e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87628406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.18, Y:4.56, Z:0.03 [[ 9.82695087e-01 -1.85230574e-01 0.00000000e+00 1.32181101e+02] [ 1.85230574e-01 9.82695087e-01 0.00000000e+00 4.55604629e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74655788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:4.56, Z:0.03 [[ 9.83036446e-01 -1.83410320e-01 0.00000000e+00 1.32209470e+02] [ 1.83410320e-01 9.83036446e-01 0.00000000e+00 4.56097408e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26016441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.24, Y:4.57, Z:0.03 [[ 9.83313463e-01 -1.81919305e-01 0.00000000e+00 1.32236939e+02] [ 1.81919305e-01 9.83313463e-01 0.00000000e+00 4.56692776e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41304048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.27, Y:4.57, Z:0.03 [[ 9.83779948e-01 -1.79379522e-01 0.00000000e+00 1.32265902e+02] [ 1.79379522e-01 9.83779948e-01 0.00000000e+00 4.56955164e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41838959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.29, Y:4.57, Z:0.03 [[ 9.84189169e-01 -1.77120524e-01 0.00000000e+00 1.32294976e+02] [ 1.77120524e-01 9.84189169e-01 0.00000000e+00 4.57460464e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64954899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:4.58, Z:0.02 [[ 9.84707154e-01 -1.74217737e-01 0.00000000e+00 1.32320919e+02] [ 1.74217737e-01 9.84707154e-01 0.00000000e+00 4.58065869e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36843557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.35, Y:4.59, Z:0.03 [[ 9.84857351e-01 -1.73366656e-01 0.00000000e+00 1.32349521e+02] [ 1.73366656e-01 9.84857351e-01 0.00000000e+00 4.58671294e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67566879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.38, Y:4.60, Z:0.03 [[ 9.85313792e-01 -1.70753420e-01 0.00000000e+00 1.32377700e+02] [ 1.70753420e-01 9.85313792e-01 0.00000000e+00 4.59549318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54932685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.40, Y:4.60, Z:0.03 [[ 9.85560143e-01 -1.69325736e-01 0.00000000e+00 1.32404995e+02] [ 1.69325736e-01 9.85560143e-01 0.00000000e+00 4.60263348e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62491955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.43, Y:4.61, Z:0.03 [[ 9.85884149e-01 -1.67428923e-01 0.00000000e+00 1.32432264e+02] [ 1.67428923e-01 9.85884149e-01 0.00000000e+00 4.60666056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98102646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.46, Y:4.61, Z:0.03 [[ 9.85808148e-01 -1.67875831e-01 0.00000000e+00 1.32460415e+02] [ 1.67875831e-01 9.85808148e-01 0.00000000e+00 4.61317076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48042403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.49, Y:4.62, Z:0.03 [[ 9.85403628e-01 -1.70234221e-01 0.00000000e+00 1.32486885e+02] [ 1.70234221e-01 9.85403628e-01 0.00000000e+00 4.62439700e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39576474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.51, Y:4.63, Z:0.03 [[ 9.84406978e-01 -1.75905946e-01 0.00000000e+00 1.32514085e+02] [ 1.75905946e-01 9.84406978e-01 0.00000000e+00 4.63367194e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87137401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.54, Y:4.64, Z:0.03 [[ 9.83690149e-01 -1.79871316e-01 0.00000000e+00 1.32541863e+02] [ 1.79871316e-01 9.83690149e-01 0.00000000e+00 4.63922669e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01633093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.57, Y:4.64, Z:0.03 [[ 9.82217319e-01 -1.87747540e-01 0.00000000e+00 1.32570073e+02] [ 1.87747540e-01 9.82217319e-01 0.00000000e+00 4.64295850e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42157611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.60, Y:4.65, Z:0.04 [[ 9.81482528e-01 -1.91551681e-01 0.00000000e+00 1.32597859e+02] [ 1.91551681e-01 9.81482528e-01 0.00000000e+00 4.64933733e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57096702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.62, Y:4.66, Z:0.03 [[ 9.80432024e-01 -1.96857932e-01 0.00000000e+00 1.32623414e+02] [ 1.96857932e-01 9.80432024e-01 0.00000000e+00 4.65850605e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36584711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.65, Y:4.67, Z:0.03 [[ 9.80126952e-01 -1.98371261e-01 0.00000000e+00 1.32650826e+02] [ 1.98371261e-01 9.80126952e-01 0.00000000e+00 4.66622413e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25095476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.68, Y:4.67, Z:0.03 [[ 9.79943085e-01 -1.99277573e-01 0.00000000e+00 1.32679157e+02] [ 1.99277573e-01 9.79943085e-01 0.00000000e+00 4.67272216e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48604122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.71, Y:4.68, Z:0.04 [[ 9.79928030e-01 -1.99351591e-01 0.00000000e+00 1.32705675e+02] [ 1.99351591e-01 9.79928030e-01 0.00000000e+00 4.67751627e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50009796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.73, Y:4.68, Z:0.03 [[ 9.79931326e-01 -1.99335385e-01 0.00000000e+00 1.32734547e+02] [ 1.99335385e-01 9.79931326e-01 0.00000000e+00 4.68227390e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11433703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.76, Y:4.69, Z:0.03 [[ 9.80050727e-01 -1.98747510e-01 0.00000000e+00 1.32762241e+02] [ 1.98747510e-01 9.80050727e-01 0.00000000e+00 4.69168982e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87762196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.79, Y:4.70, Z:0.03 [[ 9.80306697e-01 -1.97481088e-01 0.00000000e+00 1.32788084e+02] [ 1.97481088e-01 9.80306697e-01 0.00000000e+00 4.69867953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68542544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.275336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.82, Y:4.70, Z:0.03 [[ 9.80812546e-01 -1.94953197e-01 0.00000000e+00 1.32816321e+02] [ 1.94953197e-01 9.80812546e-01 0.00000000e+00 4.70185407e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95613718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.85, Y:4.71, Z:0.04 [[ 9.81016770e-01 -1.93922918e-01 0.00000000e+00 1.32845477e+02] [ 1.93922918e-01 9.81016770e-01 0.00000000e+00 4.70528348e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55433618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.87, Y:4.71, Z:0.03 [[ 9.81201200e-01 -1.92987576e-01 0.00000000e+00 1.32872401e+02] [ 1.92987576e-01 9.81201200e-01 0.00000000e+00 4.71340681e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43873928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.90, Y:4.72, Z:0.03 [[ 9.81479600e-01 -1.91566687e-01 0.00000000e+00 1.32898822e+02] [ 1.91566687e-01 9.81479600e-01 0.00000000e+00 4.72311098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93136652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.93, Y:4.73, Z:0.03 [[ 9.81522653e-01 -1.91345975e-01 0.00000000e+00 1.32926024e+02] [ 1.91345975e-01 9.81522653e-01 0.00000000e+00 4.72896471e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91013606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.95, Y:4.73, Z:0.03 [[ 9.81696542e-01 -1.90451828e-01 0.00000000e+00 1.32954371e+02] [ 1.90451828e-01 9.81696542e-01 0.00000000e+00 4.73078399e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14353386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.98, Y:4.73, Z:0.03 [[ 9.81844767e-01 -1.89686198e-01 0.00000000e+00 1.32982070e+02] [ 1.89686198e-01 9.81844767e-01 0.00000000e+00 4.73484619e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08220612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.01, Y:4.74, Z:0.03 [[ 9.82006083e-01 -1.88849284e-01 0.00000000e+00 1.33010499e+02] [ 1.88849284e-01 9.82006083e-01 0.00000000e+00 4.74163543e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68393296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.04, Y:4.75, Z:0.02 [[ 9.82070670e-01 -1.88513127e-01 0.00000000e+00 1.33037696e+02] [ 1.88513127e-01 9.82070670e-01 0.00000000e+00 4.75182425e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30282834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.06, Y:4.76, Z:0.02 [[ 9.82124210e-01 -1.88233994e-01 0.00000000e+00 1.33064852e+02] [ 1.88233994e-01 9.82124210e-01 0.00000000e+00 4.75941347e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29504057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.09, Y:4.77, Z:0.03 [[ 9.82187958e-01 -1.87901077e-01 0.00000000e+00 1.33092631e+02] [ 1.87901077e-01 9.82187958e-01 0.00000000e+00 4.76515640e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85370252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.12, Y:4.77, Z:0.03 [[ 9.82241998e-01 -1.87618383e-01 0.00000000e+00 1.33120500e+02] [ 1.87618383e-01 9.82241998e-01 0.00000000e+00 4.76983969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09908569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.15, Y:4.78, Z:0.04 [[ 9.82216636e-01 -1.87751110e-01 0.00000000e+00 1.33148892e+02] [ 1.87751110e-01 9.82216636e-01 0.00000000e+00 4.77549854e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76237116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.17, Y:4.78, Z:0.04 [[ 9.82055904e-01 -1.88590034e-01 0.00000000e+00 1.33174757e+02] [ 1.88590034e-01 9.82055904e-01 0.00000000e+00 4.78352524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50683433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.20, Y:4.79, Z:0.03 [[ 9.81875681e-01 -1.89526113e-01 0.00000000e+00 1.33202444e+02] [ 1.89526113e-01 9.81875681e-01 0.00000000e+00 4.79034029e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36709547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.23, Y:4.80, Z:0.03 [[ 9.81854322e-01 -1.89636731e-01 0.00000000e+00 1.33229975e+02] [ 1.89636731e-01 9.81854322e-01 0.00000000e+00 4.79576246e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43650575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.26, Y:4.80, Z:0.03 [[ 9.81864880e-01 -1.89582060e-01 0.00000000e+00 1.33256787e+02] [ 1.89582060e-01 9.81864880e-01 0.00000000e+00 4.80065661e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44107293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.28, Y:4.81, Z:0.03 [[ 9.81758901e-01 -1.90130114e-01 0.00000000e+00 1.33283475e+02] [ 1.90130114e-01 9.81758901e-01 0.00000000e+00 4.80785315e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47442879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.31, Y:4.82, Z:0.03 [[ 9.81797658e-01 -1.89929877e-01 0.00000000e+00 1.33310424e+02] [ 1.89929877e-01 9.81797658e-01 0.00000000e+00 4.81749441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38467691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.34, Y:4.82, Z:0.03 [[ 9.81902953e-01 -1.89384772e-01 0.00000000e+00 1.33337473e+02] [ 1.89384772e-01 9.81902953e-01 0.00000000e+00 4.82410825e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35939160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.37, Y:4.83, Z:0.03 [[ 9.82166759e-01 -1.88011856e-01 0.00000000e+00 1.33365115e+02] [ 1.88011856e-01 9.82166759e-01 0.00000000e+00 4.82850810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49383022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.39, Y:4.83, Z:0.04 [[ 9.82229126e-01 -1.87685756e-01 0.00000000e+00 1.33393152e+02] [ 1.87685756e-01 9.82229126e-01 0.00000000e+00 4.83462686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78440400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.42, Y:4.84, Z:0.04 [[ 9.82329561e-01 -1.87159381e-01 0.00000000e+00 1.33420384e+02] [ 1.87159381e-01 9.82329561e-01 0.00000000e+00 4.84418064e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97521417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.45, Y:4.85, Z:0.04 [[ 9.82333070e-01 -1.87140960e-01 0.00000000e+00 1.33445840e+02] [ 1.87140960e-01 9.82333070e-01 0.00000000e+00 4.85221496e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69699565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.47, Y:4.86, Z:0.04 [[ 9.82287912e-01 -1.87377850e-01 0.00000000e+00 1.33474046e+02] [ 1.87377850e-01 9.82287912e-01 0.00000000e+00 4.86072452e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50509430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.50, Y:4.87, Z:0.03 [[ 9.82088995e-01 -1.88417636e-01 0.00000000e+00 1.33501908e+02] [ 1.88417636e-01 9.82088995e-01 0.00000000e+00 4.86793247e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22975287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.53, Y:4.87, Z:0.03 [[ 9.81909820e-01 -1.89349163e-01 0.00000000e+00 1.33528859e+02] [ 1.89349163e-01 9.81909820e-01 0.00000000e+00 4.87416316e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31910632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.56, Y:4.88, Z:0.04 [[ 9.81513283e-01 -1.91394030e-01 0.00000000e+00 1.33556919e+02] [ 1.91394030e-01 9.81513283e-01 0.00000000e+00 4.88150032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81800879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.58, Y:4.89, Z:0.04 [[ 9.81182972e-01 -1.93080228e-01 0.00000000e+00 1.33583799e+02] [ 1.93080228e-01 9.81182972e-01 0.00000000e+00 4.89181107e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96110492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.61, Y:4.90, Z:0.04 [[ 9.80979963e-01 -1.94109021e-01 0.00000000e+00 1.33611262e+02] [ 1.94109021e-01 9.80979963e-01 0.00000000e+00 4.89893638e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76896810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.64, Y:4.91, Z:0.04 [[ 9.80943616e-01 -1.94292622e-01 0.00000000e+00 1.33639072e+02] [ 1.94292622e-01 9.80943616e-01 0.00000000e+00 4.90546702e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76896810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.67, Y:4.91, Z:0.04 [[ 9.80394756e-01 -1.97043452e-01 0.00000000e+00 1.33665601e+02] [ 1.97043452e-01 9.80394756e-01 0.00000000e+00 4.90870251e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77184330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.69, Y:4.92, Z:0.04 [[ 9.79928459e-01 -1.99349479e-01 0.00000000e+00 1.33691705e+02] [ 1.99349479e-01 9.79928459e-01 0.00000000e+00 4.91531394e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84940617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.72, Y:4.92, Z:0.04 [[ 9.79841434e-01 -1.99776785e-01 0.00000000e+00 1.33718671e+02] [ 1.99776785e-01 9.79841434e-01 0.00000000e+00 4.92351441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73283365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.74, Y:4.93, Z:0.04 [[ 9.79925151e-01 -1.99365742e-01 0.00000000e+00 1.33743742e+02] [ 1.99365742e-01 9.79925151e-01 0.00000000e+00 4.93349334e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64250880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.77, Y:4.94, Z:0.04 [[ 9.80093236e-01 -1.98537775e-01 0.00000000e+00 1.33769871e+02] [ 1.98537775e-01 9.80093236e-01 0.00000000e+00 4.94164642e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58961847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.80, Y:4.95, Z:0.03 [[ 9.80750012e-01 -1.95267545e-01 0.00000000e+00 1.33797995e+02] [ 1.95267545e-01 9.80750012e-01 0.00000000e+00 4.94920457e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31212796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.83, Y:4.96, Z:0.04 [[ 9.81429734e-01 -1.91821994e-01 0.00000000e+00 1.33825615e+02] [ 1.91821994e-01 9.81429734e-01 0.00000000e+00 4.95562474e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53120158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.85, Y:4.97, Z:0.04 [[ 9.81764999e-01 -1.90098625e-01 0.00000000e+00 1.33851493e+02] [ 1.90098625e-01 9.81764999e-01 0.00000000e+00 4.96604798e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58022348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.88, Y:4.97, Z:0.04 [[ 9.81699190e-01 -1.90438179e-01 0.00000000e+00 1.33877918e+02] [ 1.90438179e-01 9.81699190e-01 0.00000000e+00 4.97440577e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57530724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.90, Y:4.98, Z:0.03 [[ 9.81461493e-01 -1.91659434e-01 0.00000000e+00 1.33903644e+02] [ 1.91659434e-01 9.81461493e-01 0.00000000e+00 4.98268938e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48000675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.93, Y:4.99, Z:0.03 [[ 9.81229689e-01 -1.92842675e-01 0.00000000e+00 1.33930672e+02] [ 1.92842675e-01 9.81229689e-01 0.00000000e+00 4.98991101e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30383746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.96, Y:5.00, Z:0.03 [[ 9.80743548e-01 -1.95300007e-01 0.00000000e+00 1.33957987e+02] [ 1.95300007e-01 9.80743548e-01 0.00000000e+00 4.99589303e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25949760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.98, Y:5.00, Z:0.03 [[ 9.80362004e-01 -1.97206343e-01 0.00000000e+00 1.33984735e+02] [ 1.97206343e-01 9.80362004e-01 0.00000000e+00 5.00362535e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33303625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.01, Y:5.01, Z:0.03 [[ 9.80234217e-01 -1.97840541e-01 0.00000000e+00 1.34011950e+02] [ 1.97840541e-01 9.80234217e-01 0.00000000e+00 5.01231639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42344939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.04, Y:5.02, Z:0.03 [[ 9.80093712e-01 -1.98535426e-01 0.00000000e+00 1.34037850e+02] [ 1.98535426e-01 9.80093712e-01 0.00000000e+00 5.02470221e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04534150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.07, Y:5.03, Z:0.03 [[ 9.80063922e-01 -1.98682430e-01 0.00000000e+00 1.34065216e+02] [ 1.98682430e-01 9.80063922e-01 0.00000000e+00 5.03438582e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60979494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.09, Y:5.04, Z:0.03 [[ 9.80031302e-01 -1.98843275e-01 0.00000000e+00 1.34092238e+02] [ 1.98843275e-01 9.80031302e-01 0.00000000e+00 5.04054926e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72737431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.12, Y:5.05, Z:0.03 [[ 9.79883673e-01 -1.99569506e-01 0.00000000e+00 1.34119342e+02] [ 1.99569506e-01 9.79883673e-01 0.00000000e+00 5.04804244e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36516012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.15, Y:5.06, Z:0.04 [[ 9.79768412e-01 -2.00134599e-01 0.00000000e+00 1.34147057e+02] [ 2.00134599e-01 9.79768412e-01 0.00000000e+00 5.05625863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52987561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.17, Y:5.07, Z:0.04 [[ 9.79677224e-01 -2.00580501e-01 0.00000000e+00 1.34173079e+02] [ 2.00580501e-01 9.79677224e-01 0.00000000e+00 5.06944847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53051593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.20, Y:5.08, Z:0.03 [[ 9.79836824e-01 -1.99799394e-01 0.00000000e+00 1.34198633e+02] [ 1.99799394e-01 9.79836824e-01 0.00000000e+00 5.08042796e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43650883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.23, Y:5.09, Z:0.03 [[ 9.79865677e-01 -1.99657847e-01 0.00000000e+00 1.34227010e+02] [ 1.99657847e-01 9.79865677e-01 0.00000000e+00 5.08591172e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41558553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.25, Y:5.09, Z:0.03 [[ 9.79846565e-01 -1.99751619e-01 0.00000000e+00 1.34254817e+02] [ 1.99751619e-01 9.79846565e-01 0.00000000e+00 5.09357002e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26103830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.28, Y:5.11, Z:0.03 [[ 9.79941030e-01 -1.99287673e-01 0.00000000e+00 1.34281455e+02] [ 1.99287673e-01 9.79941030e-01 0.00000000e+00 5.10597568e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06084015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.31, Y:5.12, Z:0.03 [[ 9.80052679e-01 -1.98737884e-01 0.00000000e+00 1.34307465e+02] [ 1.98737884e-01 9.80052679e-01 0.00000000e+00 5.11552445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95451249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.33, Y:5.13, Z:0.03 [[ 9.80139264e-01 -1.98310422e-01 0.00000000e+00 1.34333978e+02] [ 1.98310422e-01 9.80139264e-01 0.00000000e+00 5.12537314e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06127640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.36, Y:5.13, Z:0.03 [[ 9.79984927e-01 -1.99071701e-01 0.00000000e+00 1.34360335e+02] [ 1.99071701e-01 9.79984927e-01 0.00000000e+00 5.13347823e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90357558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.39, Y:5.14, Z:0.03 [[ 9.79825120e-01 -1.99856784e-01 0.00000000e+00 1.34386013e+02] [ 1.99856784e-01 9.79825120e-01 0.00000000e+00 5.14062227e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89078435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.41, Y:5.15, Z:0.03 [[ 9.79482229e-01 -2.01530549e-01 0.00000000e+00 1.34412963e+02] [ 2.01530549e-01 9.79482229e-01 0.00000000e+00 5.15028038e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10924336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.44, Y:5.16, Z:0.03 [[ 9.79366013e-01 -2.02094565e-01 0.00000000e+00 1.34438496e+02] [ 2.02094565e-01 9.79366013e-01 0.00000000e+00 5.16265314e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07611143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.46, Y:5.17, Z:0.03 [[ 9.79372539e-01 -2.02062934e-01 0.00000000e+00 1.34463927e+02] [ 2.02062934e-01 9.79372539e-01 0.00000000e+00 5.17234229e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86612559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.49, Y:5.18, Z:0.03 [[ 9.79151302e-01 -2.03132292e-01 0.00000000e+00 1.34491469e+02] [ 2.03132292e-01 9.79151302e-01 0.00000000e+00 5.17980048e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88663543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.52, Y:5.18, Z:0.03 [[ 9.78914285e-01 -2.04271441e-01 0.00000000e+00 1.34519536e+02] [ 2.04271441e-01 9.78914285e-01 0.00000000e+00 5.18465875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10699520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.55, Y:5.19, Z:0.03 [[ 9.78333937e-01 -2.07033109e-01 0.00000000e+00 1.34546537e+02] [ 2.07033109e-01 9.78333937e-01 0.00000000e+00 5.19113509e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04500840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.57, Y:5.21, Z:0.03 [[ 9.77540311e-01 -2.10748525e-01 0.00000000e+00 1.34571816e+02] [ 2.10748525e-01 9.77540311e-01 0.00000000e+00 5.20667591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57050307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.60, Y:5.22, Z:0.03 [[ 9.77078902e-01 -2.12877475e-01 0.00000000e+00 1.34598395e+02] [ 2.12877475e-01 9.77078902e-01 0.00000000e+00 5.22137764e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86282569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.63, Y:5.23, Z:0.03 [[ 9.77183057e-01 -2.12398853e-01 0.00000000e+00 1.34625679e+02] [ 2.12398853e-01 9.77183057e-01 0.00000000e+00 5.22752847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16410778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.65, Y:5.23, Z:0.04 [[ 9.77541797e-01 -2.10741633e-01 0.00000000e+00 1.34653994e+02] [ 2.10741633e-01 9.77541797e-01 0.00000000e+00 5.22739918e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77339081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.68, Y:5.23, Z:0.04 [[ 9.77900124e-01 -2.09072591e-01 0.00000000e+00 1.34680728e+02] [ 2.09072591e-01 9.77900124e-01 0.00000000e+00 5.23423688e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01494471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.71, Y:5.25, Z:0.04 [[ 9.78097475e-01 -2.08147374e-01 0.00000000e+00 1.34705460e+02] [ 2.08147374e-01 9.78097475e-01 0.00000000e+00 5.24509976e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79337965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.73, Y:5.26, Z:0.03 [[ 9.78116377e-01 -2.08058533e-01 0.00000000e+00 1.34732152e+02] [ 2.08058533e-01 9.78116377e-01 0.00000000e+00 5.25947396e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16786888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.76, Y:5.27, Z:0.03 [[ 9.78010310e-01 -2.08556548e-01 0.00000000e+00 1.34759060e+02] [ 2.08556548e-01 9.78010310e-01 0.00000000e+00 5.26668551e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02668915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.79, Y:5.27, Z:0.03 [[ 9.77727422e-01 -2.09878746e-01 0.00000000e+00 1.34786111e+02] [ 2.09878746e-01 9.77727422e-01 0.00000000e+00 5.26924766e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10348664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.81, Y:5.27, Z:0.03 [[ 9.77447431e-01 -2.11178880e-01 0.00000000e+00 1.34814889e+02] [ 2.11178880e-01 9.77447431e-01 0.00000000e+00 5.26964594e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15953394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.84, Y:5.27, Z:0.03 [[ 9.77463808e-01 -2.11103064e-01 0.00000000e+00 1.34842211e+02] [ 2.11103064e-01 9.77463808e-01 0.00000000e+00 5.27389242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30908909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.87, Y:5.28, Z:0.04 [[ 9.78048045e-01 -2.08379512e-01 0.00000000e+00 1.34869272e+02] [ 2.08379512e-01 9.78048045e-01 0.00000000e+00 5.27930184e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52475888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.90, Y:5.29, Z:0.03 [[ 9.78794821e-01 -2.04843109e-01 0.00000000e+00 1.34896151e+02] [ 2.04843109e-01 9.78794821e-01 0.00000000e+00 5.28919493e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28961110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.92, Y:5.30, Z:0.03 [[ 9.79156321e-01 -2.03108096e-01 0.00000000e+00 1.34922214e+02] [ 2.03108096e-01 9.79156321e-01 0.00000000e+00 5.29602535e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04710241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.95, Y:5.30, Z:0.03 [[ 9.79745303e-01 -2.00247701e-01 0.00000000e+00 1.34951218e+02] [ 2.00247701e-01 9.79745303e-01 0.00000000e+00 5.29881376e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30601790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.98, Y:5.30, Z:0.04 [[ 9.80324315e-01 -1.97393611e-01 0.00000000e+00 1.34980092e+02] [ 1.97393611e-01 9.80324315e-01 0.00000000e+00 5.29922365e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65050026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.01, Y:5.30, Z:0.04 [[ 9.80487269e-01 -1.96582593e-01 0.00000000e+00 1.35007490e+02] [ 1.96582593e-01 9.80487269e-01 0.00000000e+00 5.30250078e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59906739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.04, Y:5.31, Z:0.03 [[ 9.80563893e-01 -1.96200028e-01 0.00000000e+00 1.35036071e+02] [ 1.96200028e-01 9.80563893e-01 0.00000000e+00 5.30762698e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27393977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.06, Y:5.31, Z:0.03 [[ 9.80540693e-01 -1.96315940e-01 0.00000000e+00 1.35063157e+02] [ 1.96315940e-01 9.80540693e-01 0.00000000e+00 5.31445566e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10868518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.09, Y:5.32, Z:0.03 [[ 9.80733227e-01 -1.95351831e-01 0.00000000e+00 1.35092250e+02] [ 1.95351831e-01 9.80733227e-01 0.00000000e+00 5.31750988e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39827063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.12, Y:5.32, Z:0.04 [[ 9.81145935e-01 -1.93268349e-01 0.00000000e+00 1.35120423e+02] [ 1.93268349e-01 9.81145935e-01 0.00000000e+00 5.31936999e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68721162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.15, Y:5.32, Z:0.04 [[ 9.81306027e-01 -1.92453844e-01 0.00000000e+00 1.35148172e+02] [ 1.92453844e-01 9.81306027e-01 0.00000000e+00 5.32345436e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86685427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.18, Y:5.33, Z:0.04 [[ 9.81394843e-01 -1.92000420e-01 0.00000000e+00 1.35176456e+02] [ 1.92000420e-01 9.81394843e-01 0.00000000e+00 5.32768854e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83650306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.20, Y:5.33, Z:0.04 [[ 9.81143644e-01 -1.93279976e-01 0.00000000e+00 1.35203436e+02] [ 1.93279976e-01 9.81143644e-01 0.00000000e+00 5.33408914e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63170034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.23, Y:5.34, Z:0.04 [[ 9.80792922e-01 -1.95051903e-01 0.00000000e+00 1.35231085e+02] [ 1.95051903e-01 9.80792922e-01 0.00000000e+00 5.33996465e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68359094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.26, Y:5.34, Z:0.03 [[ 9.80054321e-01 -1.98729786e-01 0.00000000e+00 1.35259387e+02] [ 1.98729786e-01 9.80054321e-01 0.00000000e+00 5.34295218e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49769009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.29, Y:5.34, Z:0.03 [[ 9.79453292e-01 -2.01671141e-01 0.00000000e+00 1.35288172e+02] [ 2.01671141e-01 9.79453292e-01 0.00000000e+00 5.34223140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34966714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.32, Y:5.35, Z:0.03 [[ 9.79098960e-01 -2.03384429e-01 0.00000000e+00 1.35316508e+02] [ 2.03384429e-01 9.79098960e-01 0.00000000e+00 5.34650341e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19841298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.34, Y:5.35, Z:0.03 [[ 9.78678031e-01 -2.05400371e-01 0.00000000e+00 1.35343305e+02] [ 2.05400371e-01 9.78678031e-01 0.00000000e+00 5.35409672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94828144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.37, Y:5.36, Z:0.03 [[ 9.78685872e-01 -2.05363004e-01 0.00000000e+00 1.35371698e+02] [ 2.05363004e-01 9.78685872e-01 0.00000000e+00 5.35878254e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06686922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.40, Y:5.37, Z:0.03 [[ 9.78648441e-01 -2.05541307e-01 0.00000000e+00 1.35399442e+02] [ 2.05541307e-01 9.78648441e-01 0.00000000e+00 5.36555037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06686922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.43, Y:5.37, Z:0.03 [[ 9.78737822e-01 -2.05115274e-01 0.00000000e+00 1.35426795e+02] [ 2.05115274e-01 9.78737822e-01 0.00000000e+00 5.36817585e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16004773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.46, Y:5.37, Z:0.03 [[ 9.78877557e-01 -2.04447375e-01 0.00000000e+00 1.35455963e+02] [ 2.04447375e-01 9.78877557e-01 0.00000000e+00 5.36827290e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28245276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.48, Y:5.37, Z:0.03 [[ 9.78892593e-01 -2.04375367e-01 0.00000000e+00 1.35484057e+02] [ 2.04375367e-01 9.78892593e-01 0.00000000e+00 5.37251217e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18800574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.51, Y:5.38, Z:0.03 [[ 9.79039386e-01 -2.03671012e-01 0.00000000e+00 1.35510905e+02] [ 2.03671012e-01 9.79039386e-01 0.00000000e+00 5.38045162e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01406926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.54, Y:5.39, Z:0.03 [[ 9.79166728e-01 -2.03057922e-01 0.00000000e+00 1.35538316e+02] [ 2.03057922e-01 9.79166728e-01 0.00000000e+00 5.38599889e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88295451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.57, Y:5.38, Z:0.03 [[ 9.79370024e-01 -2.02075125e-01 0.00000000e+00 1.35567706e+02] [ 2.02075125e-01 9.79370024e-01 0.00000000e+00 5.38356585e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01124782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.60, Y:5.38, Z:0.03 [[ 9.79266501e-01 -2.02576207e-01 0.00000000e+00 1.35596650e+02] [ 2.02576207e-01 9.79266501e-01 0.00000000e+00 5.38333658e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25494321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.62, Y:5.39, Z:0.03 [[ 9.78837427e-01 -2.04639418e-01 0.00000000e+00 1.35623552e+02] [ 2.04639418e-01 9.78837427e-01 0.00000000e+00 5.38965626e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01036459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.65, Y:5.40, Z:0.03 [[ 9.78601781e-01 -2.05763347e-01 0.00000000e+00 1.35651411e+02] [ 2.05763347e-01 9.78601781e-01 0.00000000e+00 5.39587063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05627636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.68, Y:5.40, Z:0.03 [[ 9.78319396e-01 -2.07101810e-01 0.00000000e+00 1.35680520e+02] [ 2.07101810e-01 9.78319396e-01 0.00000000e+00 5.39543377e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19669995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.71, Y:5.39, Z:0.03 [[ 9.77989034e-01 -2.08656295e-01 0.00000000e+00 1.35710064e+02] [ 2.08656295e-01 9.77989034e-01 0.00000000e+00 5.39364241e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25767217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.74, Y:5.40, Z:0.03 [[ 9.77994046e-01 -2.08632804e-01 0.00000000e+00 1.35737421e+02] [ 2.08632804e-01 9.77994046e-01 0.00000000e+00 5.40048672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47013864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.76, Y:5.41, Z:0.03 [[ 9.78160406e-01 -2.07851440e-01 0.00000000e+00 1.35764150e+02] [ 2.07851440e-01 9.78160406e-01 0.00000000e+00 5.40893156e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39772133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.79, Y:5.41, Z:0.03 [[ 9.78541931e-01 -2.06047783e-01 0.00000000e+00 1.35791898e+02] [ 2.06047783e-01 9.78541931e-01 0.00000000e+00 5.41208175e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05944759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.82, Y:5.41, Z:0.03 [[ 9.78550926e-01 -2.06005062e-01 0.00000000e+00 1.35819205e+02] [ 2.06005062e-01 9.78550926e-01 0.00000000e+00 5.41475506e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08021462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.85, Y:5.42, Z:0.03 [[ 9.78487669e-01 -2.06305312e-01 0.00000000e+00 1.35846959e+02] [ 2.06305312e-01 9.78487669e-01 0.00000000e+00 5.42064684e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24837280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.87, Y:5.43, Z:0.03 [[ 9.78441997e-01 -2.06521810e-01 0.00000000e+00 1.35872249e+02] [ 2.06521810e-01 9.78441997e-01 0.00000000e+00 5.43084250e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21443000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.90, Y:5.44, Z:0.03 [[ 9.78481366e-01 -2.06335205e-01 0.00000000e+00 1.35898084e+02] [ 2.06335205e-01 9.78481366e-01 0.00000000e+00 5.43773748e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13726537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.93, Y:5.44, Z:0.03 [[ 9.78714248e-01 -2.05227731e-01 0.00000000e+00 1.35925130e+02] [ 2.05227731e-01 9.78714248e-01 0.00000000e+00 5.44397010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11485916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.95, Y:5.45, Z:0.04 [[ 9.78874933e-01 -2.04459936e-01 0.00000000e+00 1.35953630e+02] [ 2.04459936e-01 9.78874933e-01 0.00000000e+00 5.44579325e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78335021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.98, Y:5.45, Z:0.04 [[ 9.78812902e-01 -2.04756691e-01 0.00000000e+00 1.35979704e+02] [ 2.04756691e-01 9.78812902e-01 0.00000000e+00 5.45164992e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90211698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.01, Y:5.46, Z:0.03 [[ 9.78310387e-01 -2.07144361e-01 0.00000000e+00 1.36006212e+02] [ 2.07144361e-01 9.78310387e-01 0.00000000e+00 5.46199845e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32225289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.03, Y:5.47, Z:0.03 [[ 9.77522235e-01 -2.10832350e-01 0.00000000e+00 1.36033349e+02] [ 2.10832350e-01 9.77522235e-01 0.00000000e+00 5.46662236e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98963065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.06, Y:5.47, Z:0.03 [[ 9.77131984e-01 -2.12633687e-01 0.00000000e+00 1.36061164e+02] [ 2.12633687e-01 9.77131984e-01 0.00000000e+00 5.47039944e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01621383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.09, Y:5.47, Z:0.03 [[ 9.76528685e-01 -2.15387387e-01 0.00000000e+00 1.36089904e+02] [ 2.15387387e-01 9.76528685e-01 0.00000000e+00 5.47194815e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85935237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.12, Y:5.48, Z:0.02 [[ 9.76163444e-01 -2.17036701e-01 0.00000000e+00 1.36117637e+02] [ 2.17036701e-01 9.76163444e-01 0.00000000e+00 5.47593772e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17903315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.15, Y:5.48, Z:0.02 [[ 9.76065436e-01 -2.17477046e-01 0.00000000e+00 1.36145360e+02] [ 2.17477046e-01 9.76065436e-01 0.00000000e+00 5.48191836e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04778017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.17, Y:5.49, Z:0.02 [[ 9.76272689e-01 -2.16544769e-01 0.00000000e+00 1.36173939e+02] [ 2.16544769e-01 9.76272689e-01 0.00000000e+00 5.48608801e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37784075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.20, Y:5.49, Z:0.03 [[ 9.77091723e-01 -2.12818621e-01 0.00000000e+00 1.36202206e+02] [ 2.12818621e-01 9.77091723e-01 0.00000000e+00 5.48965014e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50714274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.23, Y:5.50, Z:0.03 [[ 9.78174652e-01 -2.07784385e-01 0.00000000e+00 1.36229974e+02] [ 2.07784385e-01 9.78174652e-01 0.00000000e+00 5.49552106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51082801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.26, Y:5.50, Z:0.02 [[ 9.78700325e-01 -2.05294116e-01 0.00000000e+00 1.36257079e+02] [ 2.05294116e-01 9.78700325e-01 0.00000000e+00 5.50371154e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33910511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.28, Y:5.51, Z:0.02 [[ 9.79707467e-01 -2.00432728e-01 0.00000000e+00 1.36283489e+02] [ 2.00432728e-01 9.79707467e-01 0.00000000e+00 5.51208038e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83406478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.31, Y:5.52, Z:0.02 [[ 9.80137470e-01 -1.98319285e-01 0.00000000e+00 1.36310536e+02] [ 1.98319285e-01 9.80137470e-01 0.00000000e+00 5.52025160e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06655673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.34, Y:5.53, Z:0.02 [[ 9.80290941e-01 -1.97559286e-01 0.00000000e+00 1.36336841e+02] [ 1.97559286e-01 9.80290941e-01 0.00000000e+00 5.52938752e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15635423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.36, Y:5.54, Z:0.02 [[ 9.80541200e-01 -1.96313411e-01 0.00000000e+00 1.36362569e+02] [ 1.96313411e-01 9.80541200e-01 0.00000000e+00 5.53917243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11008009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.39, Y:5.55, Z:0.02 [[ 9.80232186e-01 -1.97850605e-01 0.00000000e+00 1.36389926e+02] [ 1.97850605e-01 9.80232186e-01 0.00000000e+00 5.54565281e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30265028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.42, Y:5.55, Z:0.02 [[ 9.79916957e-01 -1.99406012e-01 0.00000000e+00 1.36416715e+02] [ 1.99406012e-01 9.79916957e-01 0.00000000e+00 5.55422388e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21921159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.44, Y:5.57, Z:0.02 [[ 9.79181323e-01 -2.02987529e-01 0.00000000e+00 1.36442185e+02] [ 2.02987529e-01 9.79181323e-01 0.00000000e+00 5.57067938e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23365127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.47, Y:5.58, Z:0.02 [[ 9.78786751e-01 -2.04881662e-01 0.00000000e+00 1.36467907e+02] [ 2.04881662e-01 9.78786751e-01 0.00000000e+00 5.58394869e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77039879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.50, Y:5.59, Z:0.02 [[ 9.78448428e-01 -2.06491341e-01 0.00000000e+00 1.36495219e+02] [ 2.06491341e-01 9.78448428e-01 0.00000000e+00 5.59036551e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75060210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.52, Y:5.60, Z:0.02 [[ 9.78127518e-01 -2.08006149e-01 0.00000000e+00 1.36522043e+02] [ 2.08006149e-01 9.78127518e-01 0.00000000e+00 5.59687006e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07873065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.55, Y:5.61, Z:0.03 [[ 9.77129598e-01 -2.12644655e-01 0.00000000e+00 1.36548486e+02] [ 2.12644655e-01 9.77129598e-01 0.00000000e+00 5.60816834e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61554480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.57, Y:5.62, Z:0.02 [[ 9.76121816e-01 -2.17223849e-01 0.00000000e+00 1.36572443e+02] [ 2.17223849e-01 9.76121816e-01 0.00000000e+00 5.62392188e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27938783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.60, Y:5.63, Z:0.02 [[ 9.75263031e-01 -2.21047551e-01 0.00000000e+00 1.36599975e+02] [ 2.21047551e-01 9.75263031e-01 0.00000000e+00 5.63392658e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82446398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.63, Y:5.64, Z:0.02 [[ 9.74864966e-01 -2.22796540e-01 0.00000000e+00 1.36627357e+02] [ 2.22796540e-01 9.74864966e-01 0.00000000e+00 5.64034049e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94277091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.65, Y:5.65, Z:0.02 [[ 9.74105201e-01 -2.26095239e-01 0.00000000e+00 1.36653266e+02] [ 2.26095239e-01 9.74105201e-01 0.00000000e+00 5.65048171e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07687736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.68, Y:5.66, Z:0.02 [[ 9.73613052e-01 -2.28205225e-01 0.00000000e+00 1.36678963e+02] [ 2.28205225e-01 9.73613052e-01 0.00000000e+00 5.66228009e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52750464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.71, Y:5.67, Z:0.01 [[ 9.73499476e-01 -2.28689245e-01 0.00000000e+00 1.36705224e+02] [ 2.28689245e-01 9.73499476e-01 0.00000000e+00 5.67039136e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47737954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.73, Y:5.68, Z:0.02 [[ 9.73476262e-01 -2.28788041e-01 0.00000000e+00 1.36731246e+02] [ 2.28788041e-01 9.73476262e-01 0.00000000e+00 5.67913357e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83636220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.76, Y:5.69, Z:0.02 [[ 9.73360903e-01 -2.29278332e-01 0.00000000e+00 1.36758557e+02] [ 2.29278332e-01 9.73360903e-01 0.00000000e+00 5.68913739e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19319323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.79, Y:5.70, Z:0.02 [[ 9.73558571e-01 -2.28437538e-01 0.00000000e+00 1.36785136e+02] [ 2.28437538e-01 9.73558571e-01 0.00000000e+00 5.69990229e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23894283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.81, Y:5.71, Z:0.02 [[ 9.73632574e-01 -2.28121919e-01 0.00000000e+00 1.36811058e+02] [ 2.28121919e-01 9.73632574e-01 0.00000000e+00 5.70843576e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26371327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.84, Y:5.72, Z:0.02 [[ 9.73727009e-01 -2.27718493e-01 0.00000000e+00 1.36836547e+02] [ 2.27718493e-01 9.73727009e-01 0.00000000e+00 5.71986778e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11075333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.86, Y:5.73, Z:0.02 [[ 9.73780267e-01 -2.27490640e-01 0.00000000e+00 1.36862686e+02] [ 2.27490640e-01 9.73780267e-01 0.00000000e+00 5.72922885e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85099774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.89, Y:5.74, Z:0.01 [[ 9.74069033e-01 -2.26251009e-01 0.00000000e+00 1.36889027e+02] [ 2.26251009e-01 9.74069033e-01 0.00000000e+00 5.73939730e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27929308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.91, Y:5.75, Z:0.01 [[ 9.74493306e-01 -2.24416570e-01 0.00000000e+00 1.36914552e+02] [ 2.24416570e-01 9.74493306e-01 0.00000000e+00 5.74824069e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21533920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.94, Y:5.76, Z:0.01 [[ 9.74656738e-01 -2.23705706e-01 0.00000000e+00 1.36941529e+02] [ 2.23705706e-01 9.74656738e-01 0.00000000e+00 5.75743433e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29527159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.97, Y:5.77, Z:0.02 [[ 9.74840484e-01 -2.22903637e-01 0.00000000e+00 1.36968597e+02] [ 2.22903637e-01 9.74840484e-01 0.00000000e+00 5.76843091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59016755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.00, Y:5.78, Z:0.02 [[ 9.74939525e-01 -2.22470050e-01 0.00000000e+00 1.36996079e+02] [ 2.22470050e-01 9.74939525e-01 0.00000000e+00 5.77826212e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84299083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.02, Y:5.79, Z:0.02 [[ 9.74909397e-01 -2.22602038e-01 0.00000000e+00 1.37022977e+02] [ 2.22602038e-01 9.74909397e-01 0.00000000e+00 5.78622312e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87745945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.05, Y:5.80, Z:0.02 [[ 9.74888151e-01 -2.22695068e-01 0.00000000e+00 1.37049470e+02] [ 2.22695068e-01 9.74888151e-01 0.00000000e+00 5.79570135e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92303675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.08, Y:5.80, Z:0.02 [[ 9.74846453e-01 -2.22877527e-01 0.00000000e+00 1.37077156e+02] [ 2.22877527e-01 9.74846453e-01 0.00000000e+00 5.80269311e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92303675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.10, Y:5.82, Z:0.02 [[ 9.74779992e-01 -2.23168026e-01 0.00000000e+00 1.37102953e+02] [ 2.23168026e-01 9.74779992e-01 0.00000000e+00 5.81633750e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86915330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.13, Y:5.83, Z:0.02 [[ 9.74714097e-01 -2.23455652e-01 0.00000000e+00 1.37128161e+02] [ 2.23455652e-01 9.74714097e-01 0.00000000e+00 5.82542703e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65270765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.16, Y:5.84, Z:0.01 [[ 9.74559729e-01 -2.24127944e-01 0.00000000e+00 1.37155902e+02] [ 2.24127944e-01 9.74559729e-01 0.00000000e+00 5.83511703e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37100377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.18, Y:5.85, Z:0.01 [[ 9.74484075e-01 -2.24456650e-01 0.00000000e+00 1.37182510e+02] [ 2.24456650e-01 9.74484075e-01 0.00000000e+00 5.84565550e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05447879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.21, Y:5.86, Z:0.01 [[ 9.74429690e-01 -2.24692632e-01 0.00000000e+00 1.37207762e+02] [ 2.24692632e-01 9.74429690e-01 0.00000000e+00 5.85554736e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09716189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.23, Y:5.87, Z:0.01 [[ 9.74512412e-01 -2.24333588e-01 0.00000000e+00 1.37234592e+02] [ 2.24333588e-01 9.74512412e-01 0.00000000e+00 5.86528349e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32183706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.26, Y:5.88, Z:0.01 [[ 9.74861206e-01 -2.22812991e-01 0.00000000e+00 1.37259999e+02] [ 2.22812991e-01 9.74861206e-01 0.00000000e+00 5.87967620e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21412081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.29, Y:5.89, Z:0.01 [[ 9.74806165e-01 -2.23053672e-01 0.00000000e+00 1.37285960e+02] [ 2.23053672e-01 9.74806165e-01 0.00000000e+00 5.89079488e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14811824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.31, Y:5.90, Z:0.01 [[ 9.74410362e-01 -2.24776438e-01 0.00000000e+00 1.37312078e+02] [ 2.24776438e-01 9.74410362e-01 0.00000000e+00 5.90212194e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13144765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.34, Y:5.91, Z:0.01 [[ 9.74238918e-01 -2.25518362e-01 0.00000000e+00 1.37337721e+02] [ 2.25518362e-01 9.74238918e-01 0.00000000e+00 5.91107054e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10443919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.36, Y:5.92, Z:0.01 [[ 9.74073653e-01 -2.26231119e-01 0.00000000e+00 1.37363252e+02] [ 2.26231119e-01 9.74073653e-01 0.00000000e+00 5.92349313e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74961795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.39, Y:5.93, Z:0.01 [[ 9.73953314e-01 -2.26748632e-01 0.00000000e+00 1.37390856e+02] [ 2.26748632e-01 9.73953314e-01 0.00000000e+00 5.93242033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.24589263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.42, Y:5.94, Z:0.01 [[ 9.73796390e-01 -2.27421614e-01 0.00000000e+00 1.37416308e+02] [ 2.27421614e-01 9.73796390e-01 0.00000000e+00 5.94159248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.87217746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.44, Y:5.96, Z:0.01 [[ 9.73679318e-01 -2.27922325e-01 0.00000000e+00 1.37442557e+02] [ 2.27922325e-01 9.73679318e-01 0.00000000e+00 5.95617441e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.44808450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.47, Y:5.97, Z:0.01 [[ 9.73642854e-01 -2.28078042e-01 0.00000000e+00 1.37467412e+02] [ 2.28078042e-01 9.73642854e-01 0.00000000e+00 5.96686105e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.46725056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.49, Y:5.98, Z:0.01 [[ 9.73435328e-01 -2.28962143e-01 0.00000000e+00 1.37493234e+02] [ 2.28962143e-01 9.73435328e-01 0.00000000e+00 5.98124574e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39407590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.52, Y:5.99, Z:0.01 [[ 9.72926516e-01 -2.31114678e-01 0.00000000e+00 1.37518153e+02] [ 2.31114678e-01 9.72926516e-01 0.00000000e+00 5.99449130e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.69759434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.55, Y:6.00, Z:0.01 [[ 9.72585623e-01 -2.32545064e-01 0.00000000e+00 1.37545095e+02] [ 2.32545064e-01 9.72585623e-01 0.00000000e+00 6.00346397e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05753068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.57, Y:6.01, Z:0.01 [[ 9.71985485e-01 -2.35040884e-01 0.00000000e+00 1.37572375e+02] [ 2.35040884e-01 9.71985485e-01 0.00000000e+00 6.01374196e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.46326166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.60, Y:6.02, Z:0.01 [[ 9.71665071e-01 -2.36361989e-01 0.00000000e+00 1.37597257e+02] [ 2.36361989e-01 9.71665071e-01 0.00000000e+00 6.02439573e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.59258926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.62, Y:6.03, Z:0.01 [[ 9.71553359e-01 -2.36820758e-01 0.00000000e+00 1.37623881e+02] [ 2.36820758e-01 9.71553359e-01 0.00000000e+00 6.03351330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.13316313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.65, Y:6.05, Z:0.01 [[ 9.71306782e-01 -2.37830055e-01 0.00000000e+00 1.37648496e+02] [ 2.37830055e-01 9.71306782e-01 0.00000000e+00 6.04635208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65732341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.67, Y:6.06, Z:0.00 [[ 9.71251741e-01 -2.38054733e-01 0.00000000e+00 1.37674095e+02] [ 2.38054733e-01 9.71251741e-01 0.00000000e+00 6.06290781e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80321910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.70, Y:6.07, Z:0.00 [[ 9.71401899e-01 -2.37441257e-01 0.00000000e+00 1.37700882e+02] [ 2.37441257e-01 9.71401899e-01 0.00000000e+00 6.07449127e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.26834883e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.73, Y:6.08, Z:0.00 [[ 9.71571719e-01 -2.36745421e-01 0.00000000e+00 1.37727192e+02] [ 2.36745421e-01 9.71571719e-01 0.00000000e+00 6.08255438e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89278768e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.75, Y:6.09, Z:0.00 [[ 9.71784836e-01 -2.35869099e-01 0.00000000e+00 1.37753805e+02] [ 2.35869099e-01 9.71784836e-01 0.00000000e+00 6.09223659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88699414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.78, Y:6.10, Z:0.00 [[ 9.71684322e-01 -2.36282836e-01 0.00000000e+00 1.37780145e+02] [ 2.36282836e-01 9.71684322e-01 0.00000000e+00 6.10206932e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06189684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.81, Y:6.12, Z:0.00 [[ 9.71841312e-01 -2.35636295e-01 0.00000000e+00 1.37805085e+02] [ 2.35636295e-01 9.71841312e-01 0.00000000e+00 6.11844119e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75916517e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.83, Y:6.13, Z:0.00 [[ 9.72360000e-01 -2.33486683e-01 0.00000000e+00 1.37830295e+02] [ 2.33486683e-01 9.72360000e-01 0.00000000e+00 6.13358565e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30778236e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.86, Y:6.14, Z:0.00 [[ 9.72563949e-01 -2.32635690e-01 0.00000000e+00 1.37856550e+02] [ 2.32635690e-01 9.72563949e-01 0.00000000e+00 6.14418547e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46988520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.88, Y:6.16, Z:-0.00 [[ 9.72825832e-01 -2.31538120e-01 0.00000000e+00 1.37882154e+02] [ 2.31538120e-01 9.72825832e-01 0.00000000e+00 6.15680965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41829788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.91, Y:6.17, Z:-0.00 [[ 9.72310453e-01 -2.33692923e-01 0.00000000e+00 1.37907391e+02] [ 2.33692923e-01 9.72310453e-01 0.00000000e+00 6.17018529e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31643482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.93, Y:6.18, Z:-0.00 [[ 9.72088494e-01 -2.34614491e-01 0.00000000e+00 1.37933156e+02] [ 2.34614491e-01 9.72088494e-01 0.00000000e+00 6.18251193e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06452581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.96, Y:6.20, Z:0.00 [[ 9.71995780e-01 -2.34998307e-01 0.00000000e+00 1.37958976e+02] [ 2.34998307e-01 9.71995780e-01 0.00000000e+00 6.19982914e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40333596e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.99, Y:6.21, Z:-0.00 [[ 9.71942573e-01 -2.35218269e-01 0.00000000e+00 1.37986427e+02] [ 2.35218269e-01 9.71942573e-01 0.00000000e+00 6.20924966e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.59045519e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.01, Y:6.22, Z:-0.01 [[ 9.71780461e-01 -2.35887124e-01 0.00000000e+00 1.38012687e+02] [ 2.35887124e-01 9.71780461e-01 0.00000000e+00 6.22482227e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30876627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.04, Y:6.24, Z:-0.01 [[ 9.71750059e-01 -2.36012335e-01 0.00000000e+00 1.38039363e+02] [ 2.36012335e-01 9.71750059e-01 0.00000000e+00 6.23688926e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01243153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.06, Y:6.26, Z:-0.01 [[ 9.71766950e-01 -2.35942778e-01 0.00000000e+00 1.38062827e+02] [ 2.35942778e-01 9.71766950e-01 0.00000000e+00 6.25694721e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.13442519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.09, Y:6.27, Z:-0.01 [[ 9.71752263e-01 -2.36003263e-01 0.00000000e+00 1.38088062e+02] [ 2.36003263e-01 9.71752263e-01 0.00000000e+00 6.27117224e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.69333686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.11, Y:6.29, Z:-0.01 [[ 9.71555242e-01 -2.36813032e-01 0.00000000e+00 1.38114077e+02] [ 2.36813032e-01 9.71555242e-01 0.00000000e+00 6.28760044e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04694834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.14, Y:6.30, Z:-0.01 [[ 9.71117281e-01 -2.38602655e-01 0.00000000e+00 1.38139688e+02] [ 2.38602655e-01 9.71117281e-01 0.00000000e+00 6.29881296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.41123856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.17, Y:6.31, Z:-0.01 [[ 9.70387165e-01 -2.41554859e-01 0.00000000e+00 1.38165289e+02] [ 2.41554859e-01 9.70387165e-01 0.00000000e+00 6.31363149e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.91716988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.19, Y:6.33, Z:-0.01 [[ 9.69931374e-01 -2.43378573e-01 0.00000000e+00 1.38190207e+02] [ 2.43378573e-01 9.69931374e-01 0.00000000e+00 6.32531521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52080218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.22, Y:6.34, Z:-0.01 [[ 9.69292776e-01 -2.45909564e-01 0.00000000e+00 1.38215830e+02] [ 2.45909564e-01 9.69292776e-01 0.00000000e+00 6.34341182e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25821157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.24, Y:6.36, Z:-0.01 [[ 9.69216406e-01 -2.46210396e-01 0.00000000e+00 1.38241147e+02] [ 2.46210396e-01 9.69216406e-01 0.00000000e+00 6.35535594e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13131090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.27, Y:6.37, Z:-0.01 [[ 9.69476936e-01 -2.45182525e-01 0.00000000e+00 1.38268027e+02] [ 2.45182525e-01 9.69476936e-01 0.00000000e+00 6.36838040e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36654783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.30, Y:6.38, Z:-0.02 [[ 9.69830014e-01 -2.43782165e-01 0.00000000e+00 1.38295274e+02] [ 2.43782165e-01 9.69830014e-01 0.00000000e+00 6.37843942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54898347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.32, Y:6.39, Z:-0.02 [[ 9.69971880e-01 -2.43217087e-01 0.00000000e+00 1.38320979e+02] [ 2.43217087e-01 9.69971880e-01 0.00000000e+00 6.38905944e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55812779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.35, Y:6.41, Z:-0.01 [[ 9.70116697e-01 -2.42638816e-01 0.00000000e+00 1.38345536e+02] [ 2.42638816e-01 9.70116697e-01 0.00000000e+00 6.40768905e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06223361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.37, Y:6.43, Z:-0.01 [[ 9.70633801e-01 -2.40561893e-01 0.00000000e+00 1.38369653e+02] [ 2.40561893e-01 9.70633801e-01 0.00000000e+00 6.42610280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42044297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.40, Y:6.44, Z:-0.01 [[ 9.70857959e-01 -2.39655635e-01 0.00000000e+00 1.38396510e+02] [ 2.39655635e-01 9.70857959e-01 0.00000000e+00 6.43787793e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37415736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.42, Y:6.45, Z:-0.01 [[ 9.71242119e-01 -2.38093987e-01 0.00000000e+00 1.38423056e+02] [ 2.38093987e-01 9.71242119e-01 0.00000000e+00 6.45113862e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.49659695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.45, Y:6.47, Z:-0.01 [[ 9.71831840e-01 -2.35675360e-01 0.00000000e+00 1.38447776e+02] [ 2.35675360e-01 9.71831840e-01 0.00000000e+00 6.46695895e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24388579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.47, Y:6.48, Z:-0.02 [[ 9.72112739e-01 -2.34514013e-01 0.00000000e+00 1.38472880e+02] [ 2.34514013e-01 9.72112739e-01 0.00000000e+00 6.47951786e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71587912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.50, Y:6.50, Z:-0.02 [[ 9.72307308e-01 -2.33706011e-01 0.00000000e+00 1.38498504e+02] [ 2.33706011e-01 9.72307308e-01 0.00000000e+00 6.49717615e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74336360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.52, Y:6.51, Z:-0.01 [[ 9.72123320e-01 -2.34470149e-01 0.00000000e+00 1.38524053e+02] [ 2.34470149e-01 9.72123320e-01 0.00000000e+00 6.51270047e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49680451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.55, Y:6.52, Z:-0.02 [[ 9.71880506e-01 -2.35474591e-01 0.00000000e+00 1.38550214e+02] [ 2.35474591e-01 9.71880506e-01 0.00000000e+00 6.52311234e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66168178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.58, Y:6.54, Z:-0.02 [[ 9.71264618e-01 -2.38002189e-01 0.00000000e+00 1.38576166e+02] [ 2.38002189e-01 9.71264618e-01 0.00000000e+00 6.53642394e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79784448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.60, Y:6.55, Z:-0.02 [[ 9.70882322e-01 -2.39556919e-01 0.00000000e+00 1.38601858e+02] [ 2.39556919e-01 9.70882322e-01 0.00000000e+00 6.54897247e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85851916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.63, Y:6.56, Z:-0.02 [[ 9.70823815e-01 -2.39793912e-01 0.00000000e+00 1.38628048e+02] [ 2.39793912e-01 9.70823815e-01 0.00000000e+00 6.55836092e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75639638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.65, Y:6.57, Z:-0.02 [[ 9.71111031e-01 -2.38628089e-01 0.00000000e+00 1.38652860e+02] [ 2.38628089e-01 9.71111031e-01 0.00000000e+00 6.57445167e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58048498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84533619500002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:138.68, Y:6.59, Z:-0.02 [[ 9.71216560e-01 -2.38198223e-01 0.00000000e+00 1.38677990e+02] [ 2.38198223e-01 9.71216560e-01 0.00000000e+00 6.58645721e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56671416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.70, Y:6.60, Z:-0.01 [[ 9.71423492e-01 -2.37352900e-01 0.00000000e+00 1.38703148e+02] [ 2.37352900e-01 9.71423492e-01 0.00000000e+00 6.59917273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33433685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.73, Y:6.61, Z:-0.02 [[ 9.71711320e-01 -2.36171781e-01 0.00000000e+00 1.38727840e+02] [ 2.36171781e-01 9.71711320e-01 0.00000000e+00 6.61219679e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54002188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.76, Y:6.62, Z:-0.02 [[ 9.71667446e-01 -2.36352224e-01 0.00000000e+00 1.38755384e+02] [ 2.36352224e-01 9.71667446e-01 0.00000000e+00 6.61944721e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54002188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.78, Y:6.64, Z:-0.02 [[ 9.71936829e-01 -2.35242004e-01 0.00000000e+00 1.38780756e+02] [ 2.35242004e-01 9.71936829e-01 0.00000000e+00 6.63539175e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70871757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.81, Y:6.65, Z:-0.02 [[ 9.71866735e-01 -2.35531419e-01 0.00000000e+00 1.38806060e+02] [ 2.35531419e-01 9.71866735e-01 0.00000000e+00 6.64572873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70435805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.83, Y:6.66, Z:-0.01 [[ 9.71657737e-01 -2.36392137e-01 0.00000000e+00 1.38831919e+02] [ 2.36392137e-01 9.71657737e-01 0.00000000e+00 6.66027123e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28155980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.86, Y:6.67, Z:-0.01 [[ 9.71613136e-01 -2.36575386e-01 0.00000000e+00 1.38856862e+02] [ 2.36575386e-01 9.71613136e-01 0.00000000e+00 6.67143876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46842807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.88, Y:6.69, Z:-0.02 [[ 9.71529818e-01 -2.36917311e-01 0.00000000e+00 1.38883176e+02] [ 2.36917311e-01 9.71529818e-01 0.00000000e+00 6.68661578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65190506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.91, Y:6.70, Z:-0.01 [[ 9.71438719e-01 -2.37290572e-01 0.00000000e+00 1.38908126e+02] [ 2.37290572e-01 9.71438719e-01 0.00000000e+00 6.70219046e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49989540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.94, Y:6.71, Z:-0.01 [[ 9.71411145e-01 -2.37403429e-01 0.00000000e+00 1.38935058e+02] [ 2.37403429e-01 9.71411145e-01 0.00000000e+00 6.71446297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22212775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.96, Y:6.73, Z:-0.01 [[ 9.71379540e-01 -2.37532711e-01 0.00000000e+00 1.38960654e+02] [ 2.37532711e-01 9.71379540e-01 0.00000000e+00 6.72979520e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17529996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.99, Y:6.74, Z:-0.02 [[ 9.71298555e-01 -2.37863653e-01 0.00000000e+00 1.38985601e+02] [ 2.37863653e-01 9.71298555e-01 0.00000000e+00 6.74406252e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53116306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.01, Y:6.75, Z:-0.02 [[ 9.71253952e-01 -2.38045710e-01 0.00000000e+00 1.39010644e+02] [ 2.38045710e-01 9.71253952e-01 0.00000000e+00 6.75497759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88837984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.04, Y:6.77, Z:-0.02 [[ 9.70998428e-01 -2.39085869e-01 0.00000000e+00 1.39035895e+02] [ 2.39085869e-01 9.70998428e-01 0.00000000e+00 6.77071315e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85768727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.06, Y:6.79, Z:-0.02 [[ 9.70511009e-01 -2.41056802e-01 0.00000000e+00 1.39060643e+02] [ 2.41056802e-01 9.70511009e-01 0.00000000e+00 6.78698397e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66435304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.09, Y:6.80, Z:-0.02 [[ 9.70402904e-01 -2.41491621e-01 0.00000000e+00 1.39086777e+02] [ 2.41491621e-01 9.70402904e-01 0.00000000e+00 6.79878294e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59469206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.11, Y:6.81, Z:-0.02 [[ 9.70511844e-01 -2.41053440e-01 0.00000000e+00 1.39112016e+02] [ 2.41053440e-01 9.70511844e-01 0.00000000e+00 6.81420931e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73037152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.14, Y:6.83, Z:-0.02 [[ 9.70721090e-01 -2.40209419e-01 0.00000000e+00 1.39138012e+02] [ 2.40209419e-01 9.70721090e-01 0.00000000e+00 6.82656601e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71234103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.16, Y:6.84, Z:-0.02 [[ 9.70879588e-01 -2.39567999e-01 0.00000000e+00 1.39164335e+02] [ 2.39567999e-01 9.70879588e-01 0.00000000e+00 6.83570978e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72719604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.19, Y:6.85, Z:-0.02 [[ 9.70948176e-01 -2.39289863e-01 0.00000000e+00 1.39189101e+02] [ 2.39289863e-01 9.70948176e-01 0.00000000e+00 6.85012839e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57117871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.21, Y:6.86, Z:-0.01 [[ 9.70881603e-01 -2.39559833e-01 0.00000000e+00 1.39214741e+02] [ 2.39559833e-01 9.70881603e-01 0.00000000e+00 6.86241442e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40308358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.24, Y:6.88, Z:-0.02 [[ 9.70836469e-01 -2.39742677e-01 0.00000000e+00 1.39238853e+02] [ 2.39742677e-01 9.70836469e-01 0.00000000e+00 6.87943748e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55109871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.27, Y:6.89, Z:-0.01 [[ 9.70522809e-01 -2.41009287e-01 0.00000000e+00 1.39265503e+02] [ 2.41009287e-01 9.70522809e-01 0.00000000e+00 6.89050915e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45968225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.29, Y:6.90, Z:-0.02 [[ 9.70398357e-01 -2.41509895e-01 0.00000000e+00 1.39290921e+02] [ 2.41509895e-01 9.70398357e-01 0.00000000e+00 6.89841589e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75381437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.32, Y:6.91, Z:-0.02 [[ 9.70348205e-01 -2.41711316e-01 0.00000000e+00 1.39317139e+02] [ 2.41711316e-01 9.70348205e-01 0.00000000e+00 6.91032111e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43120770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.34, Y:6.92, Z:-0.02 [[ 9.70425504e-01 -2.41400791e-01 0.00000000e+00 1.39344004e+02] [ 2.41400791e-01 9.70425504e-01 0.00000000e+00 6.92039539e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45341462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.37, Y:6.94, Z:-0.03 [[ 9.71112221e-01 -2.38623248e-01 0.00000000e+00 1.39367354e+02] [ 2.38623248e-01 9.71112221e-01 0.00000000e+00 6.94018303e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58035112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.39, Y:6.95, Z:-0.03 [[ 9.71341740e-01 -2.37687241e-01 0.00000000e+00 1.39394564e+02] [ 2.37687241e-01 9.71341740e-01 0.00000000e+00 6.94915862e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74999847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.42, Y:6.96, Z:-0.03 [[ 9.71489545e-01 -2.37082400e-01 0.00000000e+00 1.39421724e+02] [ 2.37082400e-01 9.71489545e-01 0.00000000e+00 6.95648196e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68308417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.45, Y:6.97, Z:-0.03 [[ 9.71903927e-01 -2.35377900e-01 0.00000000e+00 1.39447853e+02] [ 2.35377900e-01 9.71903927e-01 0.00000000e+00 6.96552659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61332706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.47, Y:6.98, Z:-0.02 [[ 9.72533379e-01 -2.32763456e-01 0.00000000e+00 1.39473132e+02] [ 2.32763456e-01 9.72533379e-01 0.00000000e+00 6.98178763e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28704247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.50, Y:6.99, Z:-0.02 [[ 9.72802992e-01 -2.31634061e-01 0.00000000e+00 1.39497770e+02] [ 2.31634061e-01 9.72802992e-01 0.00000000e+00 6.99252959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33200232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.52, Y:7.00, Z:-0.03 [[ 9.73420907e-01 -2.29023444e-01 0.00000000e+00 1.39524710e+02] [ 2.29023444e-01 9.73420907e-01 0.00000000e+00 7.00118249e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58927486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.55, Y:7.01, Z:-0.02 [[ 9.74079400e-01 -2.26206373e-01 0.00000000e+00 1.39551344e+02] [ 2.26206373e-01 9.74079400e-01 0.00000000e+00 7.01177308e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44275617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.58, Y:7.02, Z:-0.03 [[ 9.74391885e-01 -2.24856520e-01 0.00000000e+00 1.39578292e+02] [ 2.24856520e-01 9.74391885e-01 0.00000000e+00 7.02047013e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80846661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.60, Y:7.03, Z:-0.02 [[ 9.74618330e-01 -2.23872981e-01 0.00000000e+00 1.39603978e+02] [ 2.23872981e-01 9.74618330e-01 0.00000000e+00 7.03139051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21582914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.63, Y:7.04, Z:-0.02 [[ 9.74586089e-01 -2.24013294e-01 0.00000000e+00 1.39629826e+02] [ 2.24013294e-01 9.74586089e-01 0.00000000e+00 7.04345729e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05584486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.66, Y:7.05, Z:-0.02 [[ 9.74511556e-01 -2.24337307e-01 0.00000000e+00 1.39655738e+02] [ 2.24337307e-01 9.74511556e-01 0.00000000e+00 7.05433798e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39231718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.68, Y:7.06, Z:-0.03 [[ 9.74332467e-01 -2.25113844e-01 0.00000000e+00 1.39682628e+02] [ 2.25113844e-01 9.74332467e-01 0.00000000e+00 7.06108494e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71340071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.045336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:139.71, Y:7.07, Z:-0.02 [[ 9.74143373e-01 -2.25930719e-01 0.00000000e+00 1.39709471e+02] [ 2.25930719e-01 9.74143373e-01 0.00000000e+00 7.07344498e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10889711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.74, Y:7.08, Z:-0.03 [[ 9.73972948e-01 -2.26664281e-01 0.00000000e+00 1.39736525e+02] [ 2.26664281e-01 9.73972948e-01 0.00000000e+00 7.08173816e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81812888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.76, Y:7.09, Z:-0.03 [[ 9.73891546e-01 -2.27013779e-01 0.00000000e+00 1.39763308e+02] [ 2.27013779e-01 9.73891546e-01 0.00000000e+00 7.08969606e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15914997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.79, Y:7.10, Z:-0.03 [[ 9.73803423e-01 -2.27391498e-01 0.00000000e+00 1.39791110e+02] [ 2.27391498e-01 9.73803423e-01 0.00000000e+00 7.09868223e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17759660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.165336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.82, Y:7.11, Z:-0.03 [[ 9.73631559e-01 -2.28126254e-01 0.00000000e+00 1.39818606e+02] [ 2.28126254e-01 9.73631559e-01 0.00000000e+00 7.10748446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53386769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.85, Y:7.12, Z:-0.03 [[ 9.73468067e-01 -2.28822909e-01 0.00000000e+00 1.39845491e+02] [ 2.28822909e-01 9.73468067e-01 0.00000000e+00 7.11503775e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69980199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.87, Y:7.13, Z:-0.02 [[ 9.73191577e-01 -2.29995987e-01 0.00000000e+00 1.39872080e+02] [ 2.29995987e-01 9.73191577e-01 0.00000000e+00 7.12696729e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85522252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.90, Y:7.13, Z:-0.03 [[ 9.73013598e-01 -2.30747780e-01 0.00000000e+00 1.39898616e+02] [ 2.30747780e-01 9.73013598e-01 0.00000000e+00 7.13481097e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84422811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.93, Y:7.14, Z:-0.02 [[ 9.72948130e-01 -2.31023669e-01 0.00000000e+00 1.39926802e+02] [ 2.31023669e-01 9.72948130e-01 0.00000000e+00 7.14202667e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41845755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.95, Y:7.15, Z:-0.04 [[ 9.72942961e-01 -2.31045439e-01 0.00000000e+00 1.39953404e+02] [ 2.31045439e-01 9.72942961e-01 0.00000000e+00 7.14966496e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55402430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.98, Y:7.16, Z:-0.03 [[ 9.73197042e-01 -2.29972864e-01 0.00000000e+00 1.39979264e+02] [ 2.29972864e-01 9.73197042e-01 0.00000000e+00 7.15975640e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36579687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.01, Y:7.17, Z:-0.03 [[ 9.73437935e-01 -2.28951057e-01 0.00000000e+00 1.40006648e+02] [ 2.28951057e-01 9.73437935e-01 0.00000000e+00 7.16911755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51373031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.03, Y:7.18, Z:-0.02 [[ 9.74052878e-01 -2.26320547e-01 0.00000000e+00 1.40034476e+02] [ 2.26320547e-01 9.74052878e-01 0.00000000e+00 7.17674798e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39951449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.06, Y:7.18, Z:-0.03 [[ 9.74344874e-01 -2.25060142e-01 0.00000000e+00 1.40061425e+02] [ 2.25060142e-01 9.74344874e-01 0.00000000e+00 7.18286089e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57880612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.09, Y:7.19, Z:-0.03 [[ 9.74843469e-01 -2.22890580e-01 0.00000000e+00 1.40088126e+02] [ 2.22890580e-01 9.74843469e-01 0.00000000e+00 7.19249376e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85419354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.495336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:140.11, Y:7.21, Z:-0.02 [[ 9.74817736e-01 -2.23003098e-01 0.00000000e+00 1.40113653e+02] [ 2.23003098e-01 9.74817736e-01 0.00000000e+00 7.20895585e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14891142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.14, Y:7.22, Z:-0.02 [[ 9.74598458e-01 -2.23959473e-01 0.00000000e+00 1.40140660e+02] [ 2.23959473e-01 9.74598458e-01 0.00000000e+00 7.21767637e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12370772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.17, Y:7.22, Z:-0.02 [[ 9.74200519e-01 -2.25684179e-01 0.00000000e+00 1.40168690e+02] [ 2.25684179e-01 9.74200519e-01 0.00000000e+00 7.22139704e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45632181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.20, Y:7.23, Z:-0.02 [[ 9.74095606e-01 -2.26136573e-01 0.00000000e+00 1.40196155e+02] [ 2.26136573e-01 9.74095606e-01 0.00000000e+00 7.22826670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43547757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.22, Y:7.24, Z:-0.02 [[ 9.74147364e-01 -2.25913508e-01 0.00000000e+00 1.40223835e+02] [ 2.25913508e-01 9.74147364e-01 0.00000000e+00 7.23730675e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24908214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.25, Y:7.25, Z:-0.02 [[ 9.74201804e-01 -2.25678631e-01 0.00000000e+00 1.40250453e+02] [ 2.25678631e-01 9.74201804e-01 0.00000000e+00 7.24584457e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41749960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.28, Y:7.26, Z:-0.03 [[ 9.74266884e-01 -2.25397512e-01 0.00000000e+00 1.40276082e+02] [ 2.25397512e-01 9.74266884e-01 0.00000000e+00 7.25688599e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76596746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.30, Y:7.26, Z:-0.03 [[ 9.74088876e-01 -2.26165562e-01 0.00000000e+00 1.40304476e+02] [ 2.26165562e-01 9.74088876e-01 0.00000000e+00 7.26395163e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74781304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.33, Y:7.27, Z:-0.03 [[ 9.74097012e-01 -2.26130520e-01 0.00000000e+00 1.40330706e+02] [ 2.26130520e-01 9.74097012e-01 0.00000000e+00 7.26858959e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79785021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.36, Y:7.27, Z:-0.03 [[ 9.73979938e-01 -2.26634245e-01 0.00000000e+00 1.40358099e+02] [ 2.26634245e-01 9.73979938e-01 0.00000000e+00 7.27498401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84874718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.39, Y:7.28, Z:-0.03 [[ 9.73616621e-01 -2.28189997e-01 0.00000000e+00 1.40385773e+02] [ 2.28189997e-01 9.73616621e-01 0.00000000e+00 7.28128696e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63372789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.41, Y:7.29, Z:-0.03 [[ 9.73572120e-01 -2.28379789e-01 0.00000000e+00 1.40413217e+02] [ 2.28379789e-01 9.73572120e-01 0.00000000e+00 7.28872751e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63372789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.44, Y:7.30, Z:-0.03 [[ 9.73566100e-01 -2.28405447e-01 0.00000000e+00 1.40439360e+02] [ 2.28405447e-01 9.73566100e-01 0.00000000e+00 7.29696556e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51142031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.46, Y:7.31, Z:-0.02 [[ 9.73759416e-01 -2.27579875e-01 0.00000000e+00 1.40464847e+02] [ 2.27579875e-01 9.73759416e-01 0.00000000e+00 7.30778675e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25741395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.49, Y:7.31, Z:-0.03 [[ 9.73980050e-01 -2.26633760e-01 0.00000000e+00 1.40492509e+02] [ 2.26633760e-01 9.73980050e-01 0.00000000e+00 7.31176542e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57064452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.52, Y:7.32, Z:-0.03 [[ 9.74025825e-01 -2.26436949e-01 0.00000000e+00 1.40520942e+02] [ 2.26436949e-01 9.74025825e-01 0.00000000e+00 7.31700473e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82473660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.55, Y:7.33, Z:-0.03 [[ 9.74241856e-01 -2.25505667e-01 0.00000000e+00 1.40547796e+02] [ 2.25505667e-01 9.74241856e-01 0.00000000e+00 7.32709237e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84055538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.57, Y:7.34, Z:-0.03 [[ 9.74311119e-01 -2.25206223e-01 0.00000000e+00 1.40574177e+02] [ 2.25206223e-01 9.74311119e-01 0.00000000e+00 7.33755468e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74150579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.60, Y:7.35, Z:-0.03 [[ 9.74429231e-01 -2.24694625e-01 0.00000000e+00 1.40600888e+02] [ 2.24694625e-01 9.74429231e-01 0.00000000e+00 7.34735900e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69048927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.63, Y:7.35, Z:-0.03 [[ 9.74329368e-01 -2.25127258e-01 0.00000000e+00 1.40629718e+02] [ 2.25127258e-01 9.74329368e-01 0.00000000e+00 7.35308521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83877034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.66, Y:7.36, Z:-0.03 [[ 9.74195481e-01 -2.25705926e-01 0.00000000e+00 1.40657035e+02] [ 2.25705926e-01 9.74195481e-01 0.00000000e+00 7.35890502e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18046419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.68, Y:7.37, Z:-0.03 [[ 9.74119185e-01 -2.26034985e-01 0.00000000e+00 1.40684436e+02] [ 2.26034985e-01 9.74119185e-01 0.00000000e+00 7.36669565e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03006791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.71, Y:7.37, Z:-0.03 [[ 9.73970313e-01 -2.26675605e-01 0.00000000e+00 1.40711003e+02] [ 2.26675605e-01 9.73970313e-01 0.00000000e+00 7.37333092e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01226107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.74, Y:7.38, Z:-0.03 [[ 9.73849820e-01 -2.27192710e-01 0.00000000e+00 1.40737767e+02] [ 2.27192710e-01 9.73849820e-01 0.00000000e+00 7.38096070e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05066150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.76, Y:7.39, Z:-0.03 [[ 9.73556980e-01 -2.28444317e-01 0.00000000e+00 1.40762712e+02] [ 2.28444317e-01 9.73556980e-01 0.00000000e+00 7.39042401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03962414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.79, Y:7.39, Z:-0.03 [[ 9.73183865e-01 -2.30028616e-01 0.00000000e+00 1.40791137e+02] [ 2.30028616e-01 9.73183865e-01 0.00000000e+00 7.39498611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59732492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.82, Y:7.40, Z:-0.03 [[ 9.73078979e-01 -2.30471907e-01 0.00000000e+00 1.40818037e+02] [ 2.30471907e-01 9.73078979e-01 0.00000000e+00 7.40055840e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58140025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.85, Y:7.41, Z:-0.03 [[ 9.73194007e-01 -2.29985705e-01 0.00000000e+00 1.40845085e+02] [ 2.29985705e-01 9.73194007e-01 0.00000000e+00 7.40689799e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70369940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.87, Y:7.41, Z:-0.03 [[ 9.73310581e-01 -2.29491860e-01 0.00000000e+00 1.40873460e+02] [ 2.29491860e-01 9.73310581e-01 0.00000000e+00 7.41363103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94439380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.90, Y:7.42, Z:-0.03 [[ 9.73375568e-01 -2.29216064e-01 0.00000000e+00 1.40900006e+02] [ 2.29216064e-01 9.73375568e-01 0.00000000e+00 7.42233981e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38456718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.93, Y:7.43, Z:-0.03 [[ 9.73601646e-01 -2.28253883e-01 0.00000000e+00 1.40926326e+02] [ 2.28253883e-01 9.73601646e-01 0.00000000e+00 7.43454702e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88283571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.95, Y:7.44, Z:-0.03 [[ 9.73675256e-01 -2.27939675e-01 0.00000000e+00 1.40953150e+02] [ 2.27939675e-01 9.73675256e-01 0.00000000e+00 7.44176852e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18981885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.98, Y:7.45, Z:-0.03 [[ 9.74102109e-01 -2.26108561e-01 0.00000000e+00 1.40981153e+02] [ 2.26108561e-01 9.74102109e-01 0.00000000e+00 7.44587890e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06141670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.01, Y:7.45, Z:-0.03 [[ 9.74392549e-01 -2.24853643e-01 0.00000000e+00 1.41008283e+02] [ 2.24853643e-01 9.74392549e-01 0.00000000e+00 7.45343023e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10636295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.03, Y:7.46, Z:-0.03 [[ 9.75009076e-01 -2.22165035e-01 0.00000000e+00 1.41034118e+02] [ 2.22165035e-01 9.75009076e-01 0.00000000e+00 7.46311279e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00788221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.06, Y:7.47, Z:-0.03 [[ 9.75633889e-01 -2.19404909e-01 0.00000000e+00 1.41061063e+02] [ 2.19404909e-01 9.75633889e-01 0.00000000e+00 7.47425693e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85288311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.09, Y:7.48, Z:-0.03 [[ 9.75690373e-01 -2.19153591e-01 0.00000000e+00 1.41086664e+02] [ 2.19153591e-01 9.75690373e-01 0.00000000e+00 7.48487127e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64716528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.11, Y:7.49, Z:-0.03 [[ 9.75533044e-01 -2.19852860e-01 0.00000000e+00 1.41113676e+02] [ 2.19852860e-01 9.75533044e-01 0.00000000e+00 7.49307224e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.11633890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.635336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.14, Y:7.50, Z:-0.03 [[ 9.75016985e-01 -2.22130321e-01 0.00000000e+00 1.41142147e+02] [ 2.22130321e-01 9.75016985e-01 0.00000000e+00 7.49742119e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30079919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.17, Y:7.51, Z:-0.03 [[ 9.74649138e-01 -2.23738816e-01 0.00000000e+00 1.41169630e+02] [ 2.23738816e-01 9.74649138e-01 0.00000000e+00 7.50709230e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96204033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.20, Y:7.52, Z:-0.03 [[ 9.74337110e-01 -2.25093751e-01 0.00000000e+00 1.41195346e+02] [ 2.25093751e-01 9.74337110e-01 0.00000000e+00 7.51721078e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94635299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.22, Y:7.53, Z:-0.03 [[ 9.73760803e-01 -2.27573942e-01 0.00000000e+00 1.41221508e+02] [ 2.27573942e-01 9.73760803e-01 0.00000000e+00 7.52826081e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46030094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.25, Y:7.53, Z:-0.04 [[ 9.73176610e-01 -2.30059309e-01 0.00000000e+00 1.41248069e+02] [ 2.30059309e-01 9.73176610e-01 0.00000000e+00 7.53443391e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59942332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.28, Y:7.54, Z:-0.03 [[ 9.72901129e-01 -2.31221525e-01 0.00000000e+00 1.41275608e+02] [ 2.31221525e-01 9.72901129e-01 0.00000000e+00 7.54092113e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23634390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.30, Y:7.55, Z:-0.03 [[ 9.72191830e-01 -2.34185923e-01 0.00000000e+00 1.41302804e+02] [ 2.34185923e-01 9.72191830e-01 0.00000000e+00 7.54917763e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86561122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.33, Y:7.56, Z:-0.03 [[ 9.71949611e-01 -2.35189188e-01 0.00000000e+00 1.41330589e+02] [ 2.35189188e-01 9.71949611e-01 0.00000000e+00 7.55720430e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75673694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87533619500002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.36, Y:7.56, Z:-0.03 [[ 9.71872567e-01 -2.35507353e-01 0.00000000e+00 1.41357736e+02] [ 2.35507353e-01 9.71872567e-01 0.00000000e+00 7.56491644e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05575757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.38, Y:7.57, Z:-0.03 [[ 9.72161465e-01 -2.34311942e-01 0.00000000e+00 1.41383982e+02] [ 2.34311942e-01 9.72161465e-01 0.00000000e+00 7.57062992e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20624677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.41, Y:7.58, Z:-0.03 [[ 9.72372788e-01 -2.33433419e-01 0.00000000e+00 1.41410716e+02] [ 2.33433419e-01 9.72372788e-01 0.00000000e+00 7.57775263e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12723910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.44, Y:7.59, Z:-0.03 [[ 9.72762151e-01 -2.31805518e-01 0.00000000e+00 1.41438055e+02] [ 2.31805518e-01 9.72762151e-01 0.00000000e+00 7.58929444e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98414306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.47, Y:7.60, Z:-0.03 [[ 9.72800556e-01 -2.31644291e-01 0.00000000e+00 1.41465784e+02] [ 2.31644291e-01 9.72800556e-01 0.00000000e+00 7.59837671e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00107581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.49, Y:7.60, Z:-0.03 [[ 9.72745973e-01 -2.31873395e-01 0.00000000e+00 1.41493113e+02] [ 2.31873395e-01 9.72745973e-01 0.00000000e+00 7.60486651e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44526899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.52, Y:7.61, Z:-0.04 [[ 9.72659889e-01 -2.32234237e-01 0.00000000e+00 1.41521875e+02] [ 2.32234237e-01 9.72659889e-01 0.00000000e+00 7.61032560e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62773431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.55, Y:7.62, Z:-0.04 [[ 9.72568544e-01 -2.32616482e-01 0.00000000e+00 1.41550397e+02] [ 2.32616482e-01 9.72568544e-01 0.00000000e+00 7.61599309e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63783589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:7.62, Z:-0.04 [[ 9.72543122e-01 -2.32722744e-01 0.00000000e+00 1.41577606e+02] [ 2.32722744e-01 9.72543122e-01 0.00000000e+00 7.62326909e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72971129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.61, Y:7.63, Z:-0.03 [[ 9.72668859e-01 -2.32196662e-01 0.00000000e+00 1.41605120e+02] [ 2.32196662e-01 9.72668859e-01 0.00000000e+00 7.63045200e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36773999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.175336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:141.63, Y:7.64, Z:-0.03 [[ 9.72679901e-01 -2.32150402e-01 0.00000000e+00 1.41632088e+02] [ 2.32150402e-01 9.72679901e-01 0.00000000e+00 7.63589942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37753431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.66, Y:7.64, Z:-0.03 [[ 9.72617389e-01 -2.32412165e-01 0.00000000e+00 1.41660043e+02] [ 2.32412165e-01 9.72617389e-01 0.00000000e+00 7.64268421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99477676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.69, Y:7.65, Z:-0.03 [[ 9.72601374e-01 -2.32479174e-01 0.00000000e+00 1.41688132e+02] [ 2.32479174e-01 9.72601374e-01 0.00000000e+00 7.65081085e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78653011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.72, Y:7.66, Z:-0.03 [[ 9.72549542e-01 -2.32695916e-01 0.00000000e+00 1.41715784e+02] [ 2.32695916e-01 9.72549542e-01 0.00000000e+00 7.65650222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28410496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.74, Y:7.66, Z:-0.04 [[ 9.72234256e-01 -2.34009726e-01 0.00000000e+00 1.41744192e+02] [ 2.34009726e-01 9.72234256e-01 0.00000000e+00 7.65935187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.70999335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.77, Y:7.67, Z:-0.04 [[ 9.72145856e-01 -2.34376693e-01 0.00000000e+00 1.41771841e+02] [ 2.34376693e-01 9.72145856e-01 0.00000000e+00 7.66548924e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77965679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.355336195 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.80, Y:7.67, Z:-0.03 [[ 9.72196469e-01 -2.34166663e-01 0.00000000e+00 1.41801377e+02] [ 2.34166663e-01 9.72196469e-01 0.00000000e+00 7.66802586e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32820556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.83, Y:7.67, Z:-0.03 [[ 9.72376166e-01 -2.33419347e-01 0.00000000e+00 1.41828421e+02] [ 2.33419347e-01 9.72376166e-01 0.00000000e+00 7.67019445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38449503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.86, Y:7.68, Z:-0.03 [[ 9.72648810e-01 -2.32280635e-01 0.00000000e+00 1.41856556e+02] [ 2.32280635e-01 9.72648810e-01 0.00000000e+00 7.67639758e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91690536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.88, Y:7.68, Z:-0.03 [[ 9.73277547e-01 -2.29631917e-01 0.00000000e+00 1.41882994e+02] [ 2.29631917e-01 9.73277547e-01 0.00000000e+00 7.68375073e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01548932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:7.69, Z:-0.03 [[ 9.73689446e-01 -2.27879053e-01 0.00000000e+00 1.41909882e+02] [ 2.27879053e-01 9.73689446e-01 0.00000000e+00 7.69324286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15981444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.94, Y:7.70, Z:-0.03 [[ 9.73760232e-01 -2.27576386e-01 0.00000000e+00 1.41938221e+02] [ 2.27576386e-01 9.73760232e-01 0.00000000e+00 7.69887474e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22712394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.97, Y:7.70, Z:-0.03 [[ 9.73752078e-01 -2.27611272e-01 0.00000000e+00 1.41967486e+02] [ 2.27611272e-01 9.73752078e-01 0.00000000e+00 7.70229621e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27298317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:7.70, Z:-0.04 [[ 9.73785162e-01 -2.27469688e-01 0.00000000e+00 1.41996738e+02] [ 2.27469688e-01 9.73785162e-01 0.00000000e+00 7.70311933e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.87158578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.02, Y:7.71, Z:-0.04 [[ 9.73833063e-01 -2.27264528e-01 0.00000000e+00 1.42024007e+02] [ 2.27264528e-01 9.73833063e-01 0.00000000e+00 7.71072766e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55293657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62533619500002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.05, Y:7.72, Z:-0.04 [[ 9.73793235e-01 -2.27435125e-01 0.00000000e+00 1.42050410e+02] [ 2.27435125e-01 9.73793235e-01 0.00000000e+00 7.71824835e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60408450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:7.72, Z:-0.03 [[ 9.73764299e-01 -2.27558979e-01 0.00000000e+00 1.42078646e+02] [ 2.27558979e-01 9.73764299e-01 0.00000000e+00 7.72492597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28598725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68533619500002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:142.11, Y:7.73, Z:-0.03 [[ 9.74082878e-01 -2.26191396e-01 0.00000000e+00 1.42106910e+02] [ 2.26191396e-01 9.74082878e-01 0.00000000e+00 7.72873799e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23981786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.13, Y:7.74, Z:-0.03 [[ 9.74366563e-01 -2.24966223e-01 0.00000000e+00 1.42134951e+02] [ 2.24966223e-01 9.74366563e-01 0.00000000e+00 7.73577743e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31141836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.16, Y:7.74, Z:-0.03 [[ 9.74325180e-01 -2.25145383e-01 0.00000000e+00 1.42162334e+02] [ 2.25145383e-01 9.74325180e-01 0.00000000e+00 7.74345180e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31141836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.19, Y:7.75, Z:-0.03 [[ 9.74506793e-01 -2.24357994e-01 0.00000000e+00 1.42189008e+02] [ 2.24357994e-01 9.74506793e-01 0.00000000e+00 7.75027187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75116173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.22, Y:7.76, Z:-0.03 [[ 9.74474444e-01 -2.24498460e-01 0.00000000e+00 1.42216484e+02] [ 2.24498460e-01 9.74474444e-01 0.00000000e+00 7.75705687e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87041485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:7.76, Z:-0.03 [[ 9.74368065e-01 -2.24959715e-01 0.00000000e+00 1.42243024e+02] [ 2.24959715e-01 9.74368065e-01 0.00000000e+00 7.76365422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91233766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.27, Y:7.77, Z:-0.02 [[ 9.73906078e-01 -2.26951429e-01 0.00000000e+00 1.42269681e+02] [ 2.26951429e-01 9.73906078e-01 0.00000000e+00 7.77080164e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39725770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:7.77, Z:-0.03 [[ 9.73503347e-01 -2.28672765e-01 0.00000000e+00 1.42297821e+02] [ 2.28672765e-01 9.73503347e-01 0.00000000e+00 7.77318500e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70730342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:7.78, Z:-0.02 [[ 9.73293056e-01 -2.29566170e-01 0.00000000e+00 1.42326040e+02] [ 2.29566170e-01 9.73293056e-01 0.00000000e+00 7.77721805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15883410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:7.78, Z:-0.02 [[ 9.73027467e-01 -2.30689289e-01 0.00000000e+00 1.42354234e+02] [ 2.30689289e-01 9.73027467e-01 0.00000000e+00 7.77999503e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35470995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:7.79, Z:-0.03 [[ 9.72871730e-01 -2.31345192e-01 0.00000000e+00 1.42380609e+02] [ 2.31345192e-01 9.72871730e-01 0.00000000e+00 7.78538692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53457456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:7.79, Z:-0.02 [[ 9.72604642e-01 -2.32465504e-01 0.00000000e+00 1.42409287e+02] [ 2.32465504e-01 9.72604642e-01 0.00000000e+00 7.78939178e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45778766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.44, Y:7.80, Z:-0.03 [[ 9.72528863e-01 -2.32782324e-01 0.00000000e+00 1.42437642e+02] [ 2.32782324e-01 9.72528863e-01 0.00000000e+00 7.79537561e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54572219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:7.80, Z:-0.03 [[ 9.72586235e-01 -2.32542501e-01 0.00000000e+00 1.42464437e+02] [ 2.32542501e-01 9.72586235e-01 0.00000000e+00 7.80271641e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68876422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.49, Y:7.81, Z:-0.03 [[ 9.73059173e-01 -2.30555516e-01 0.00000000e+00 1.42490536e+02] [ 2.30555516e-01 9.73059173e-01 0.00000000e+00 7.80838440e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71105558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:7.81, Z:-0.03 [[ 9.73387207e-01 -2.29166631e-01 0.00000000e+00 1.42518364e+02] [ 2.29166631e-01 9.73387207e-01 0.00000000e+00 7.81334582e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60201840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:7.82, Z:-0.03 [[ 9.74181591e-01 -2.25765868e-01 0.00000000e+00 1.42546950e+02] [ 2.25765868e-01 9.74181591e-01 0.00000000e+00 7.81800612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69975111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.195336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.57, Y:7.83, Z:-0.03 [[ 9.74750881e-01 -2.23295141e-01 0.00000000e+00 1.42572936e+02] [ 2.23295141e-01 9.74750881e-01 0.00000000e+00 7.82685524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00798226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.60, Y:7.83, Z:-0.03 [[ 9.74822522e-01 -2.22982177e-01 0.00000000e+00 1.42599568e+02] [ 2.22982177e-01 9.74822522e-01 0.00000000e+00 7.83324570e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05357668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:7.84, Z:-0.03 [[ 9.74597673e-01 -2.23962890e-01 0.00000000e+00 1.42628222e+02] [ 2.23962890e-01 9.74597673e-01 0.00000000e+00 7.83668533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68354660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:7.84, Z:-0.02 [[ 9.74281171e-01 -2.25335751e-01 0.00000000e+00 1.42655441e+02] [ 2.25335751e-01 9.74281171e-01 0.00000000e+00 7.84338429e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23656290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:7.85, Z:-0.02 [[ 9.73701505e-01 -2.27827521e-01 0.00000000e+00 1.42683000e+02] [ 2.27827521e-01 9.73701505e-01 0.00000000e+00 7.84891984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46491458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:7.85, Z:-0.02 [[ 9.73434636e-01 -2.28965086e-01 0.00000000e+00 1.42711606e+02] [ 2.28965086e-01 9.73434636e-01 0.00000000e+00 7.85438977e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12199085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:7.86, Z:-0.02 [[ 9.72858467e-01 -2.31400957e-01 0.00000000e+00 1.42738648e+02] [ 2.31400957e-01 9.72858467e-01 0.00000000e+00 7.86057769e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96396324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:7.87, Z:-0.02 [[ 9.72527077e-01 -2.32789785e-01 0.00000000e+00 1.42764466e+02] [ 2.32789785e-01 9.72527077e-01 0.00000000e+00 7.86789994e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28264183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:7.87, Z:-0.02 [[ 9.71787828e-01 -2.35856772e-01 0.00000000e+00 1.42792737e+02] [ 2.35856772e-01 9.71787828e-01 0.00000000e+00 7.87103091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24079148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46533619500002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:142.82, Y:7.87, Z:-0.02 [[ 9.71217203e-01 -2.38195601e-01 0.00000000e+00 1.42822216e+02] [ 2.38195601e-01 9.71217203e-01 0.00000000e+00 7.87078755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11963331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:7.88, Z:-0.02 [[ 9.70969449e-01 -2.39203529e-01 0.00000000e+00 1.42850376e+02] [ 2.39203529e-01 9.70969449e-01 0.00000000e+00 7.87655528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47799731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:7.88, Z:-0.03 [[ 9.70780231e-01 -2.39970295e-01 0.00000000e+00 1.42877545e+02] [ 2.39970295e-01 9.70780231e-01 0.00000000e+00 7.88366381e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74211225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.91, Y:7.89, Z:-0.03 [[ 9.70824884e-01 -2.39789586e-01 0.00000000e+00 1.42905676e+02] [ 2.39789586e-01 9.70824884e-01 0.00000000e+00 7.89166606e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69759139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.93, Y:7.90, Z:-0.02 [[ 9.71229629e-01 -2.38144931e-01 0.00000000e+00 1.42933068e+02] [ 2.38144931e-01 9.71229629e-01 0.00000000e+00 7.89573273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32866271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.96, Y:7.90, Z:-0.03 [[ 9.71488308e-01 -2.37087468e-01 0.00000000e+00 1.42959741e+02] [ 2.37087468e-01 9.71488308e-01 0.00000000e+00 7.90086592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69375179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.99, Y:7.90, Z:-0.03 [[ 9.71919827e-01 -2.35312238e-01 0.00000000e+00 1.42987702e+02] [ 2.35312238e-01 9.71919827e-01 0.00000000e+00 7.90459779e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69588902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:7.91, Z:-0.02 [[ 9.72119332e-01 -2.34486681e-01 0.00000000e+00 1.43015726e+02] [ 2.34486681e-01 9.72119332e-01 0.00000000e+00 7.91062202e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47805168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.04, Y:7.92, Z:-0.02 [[ 9.72193727e-01 -2.34178045e-01 0.00000000e+00 1.43042951e+02] [ 2.34178045e-01 9.72193727e-01 0.00000000e+00 7.91852454e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14740423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.07, Y:7.92, Z:-0.03 [[ 9.72339329e-01 -2.33572750e-01 0.00000000e+00 1.43070469e+02] [ 2.33572750e-01 9.72339329e-01 0.00000000e+00 7.92490753e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53591442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.10, Y:7.93, Z:-0.03 [[ 9.72579960e-01 -2.32568744e-01 0.00000000e+00 1.43097433e+02] [ 2.32568744e-01 9.72579960e-01 0.00000000e+00 7.93018530e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27213627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.795336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:143.13, Y:7.93, Z:-0.03 [[ 9.73140956e-01 -2.30210079e-01 0.00000000e+00 1.43126983e+02] [ 2.30210079e-01 9.73140956e-01 0.00000000e+00 7.93256506e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.25528769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.16, Y:7.94, Z:-0.03 [[ 9.73352089e-01 -2.29315744e-01 0.00000000e+00 1.43155531e+02] [ 2.29315744e-01 9.73352089e-01 0.00000000e+00 7.93738482e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66650583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.855336195 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:143.18, Y:7.94, Z:-0.03 [[ 9.73754965e-01 -2.27598920e-01 0.00000000e+00 1.43182950e+02] [ 2.27598920e-01 9.73754965e-01 0.00000000e+00 7.94271618e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66459004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.21, Y:7.95, Z:-0.03 [[ 9.73806439e-01 -2.27378581e-01 0.00000000e+00 1.43210058e+02] [ 2.27378581e-01 9.73806439e-01 0.00000000e+00 7.95088594e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58979213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.24, Y:7.96, Z:-0.02 [[ 9.73792101e-01 -2.27439980e-01 0.00000000e+00 1.43237840e+02] [ 2.27439980e-01 9.73792101e-01 0.00000000e+00 7.95802983e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93094855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.27, Y:7.96, Z:-0.02 [[ 9.73651228e-01 -2.28042292e-01 0.00000000e+00 1.43267091e+02] [ 2.28042292e-01 9.73651228e-01 0.00000000e+00 7.96210287e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60111326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.29, Y:7.97, Z:-0.02 [[ 9.73466024e-01 -2.28831597e-01 0.00000000e+00 1.43293351e+02] [ 2.28831597e-01 9.73466024e-01 0.00000000e+00 7.96710186e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73048476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.32, Y:7.97, Z:-0.02 [[ 9.73058919e-01 -2.30556588e-01 0.00000000e+00 1.43322952e+02] [ 2.30556588e-01 9.73058919e-01 0.00000000e+00 7.96839773e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59337714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.35, Y:7.97, Z:-0.02 [[ 9.72662384e-01 -2.32223787e-01 0.00000000e+00 1.43351186e+02] [ 2.32223787e-01 9.72662384e-01 0.00000000e+00 7.97359305e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71335901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.38, Y:7.98, Z:-0.02 [[ 9.72343071e-01 -2.33557172e-01 0.00000000e+00 1.43379301e+02] [ 2.33557172e-01 9.72343071e-01 0.00000000e+00 7.98170191e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97980593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.41, Y:7.99, Z:-0.02 [[ 9.71737242e-01 -2.36065102e-01 0.00000000e+00 1.43406654e+02] [ 2.36065102e-01 9.71737242e-01 0.00000000e+00 7.98750704e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24550556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12533619500002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:143.44, Y:7.99, Z:-0.02 [[ 9.71387640e-01 -2.37499586e-01 0.00000000e+00 1.43435333e+02] [ 2.37499586e-01 9.71387640e-01 0.00000000e+00 7.99235496e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68263821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.46, Y:7.99, Z:-0.01 [[ 9.70871277e-01 -2.39601675e-01 0.00000000e+00 1.43464416e+02] [ 2.39601675e-01 9.70871277e-01 0.00000000e+00 7.99343679e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32697332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.49, Y:8.00, Z:-0.02 [[ 9.70697530e-01 -2.40304608e-01 0.00000000e+00 1.43491736e+02] [ 2.40304608e-01 9.70697530e-01 0.00000000e+00 7.99941339e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51784231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.52, Y:8.01, Z:-0.01 [[ 9.70768783e-01 -2.40016603e-01 0.00000000e+00 1.43518461e+02] [ 2.40016603e-01 9.70768783e-01 0.00000000e+00 8.00667573e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37620733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.55, Y:8.01, Z:-0.01 [[ 9.71554029e-01 -2.36818007e-01 0.00000000e+00 1.43546562e+02] [ 2.36818007e-01 9.71554029e-01 0.00000000e+00 8.01335132e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.94974245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.58, Y:8.02, Z:-0.01 [[ 9.71965303e-01 -2.35124327e-01 0.00000000e+00 1.43575192e+02] [ 2.35124327e-01 9.71965303e-01 0.00000000e+00 8.01898491e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88899972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.60, Y:8.02, Z:-0.02 [[ 9.72690668e-01 -2.32105289e-01 0.00000000e+00 1.43604434e+02] [ 2.32105289e-01 9.72690668e-01 0.00000000e+00 8.02206198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80672227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.63, Y:8.03, Z:-0.02 [[ 9.72902373e-01 -2.31216290e-01 0.00000000e+00 1.43630922e+02] [ 2.31216290e-01 9.72902373e-01 0.00000000e+00 8.02940152e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97777691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.66, Y:8.04, Z:-0.02 [[ 9.72947721e-01 -2.31025394e-01 0.00000000e+00 1.43658177e+02] [ 2.31025394e-01 9.72947721e-01 0.00000000e+00 8.03746988e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80614802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.69, Y:8.04, Z:-0.02 [[ 9.72829015e-01 -2.31524745e-01 0.00000000e+00 1.43685958e+02] [ 2.31524745e-01 9.72829015e-01 0.00000000e+00 8.04410695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68788669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.72, Y:8.05, Z:-0.01 [[ 9.72577198e-01 -2.32580296e-01 0.00000000e+00 1.43715179e+02] [ 2.32580296e-01 9.72577198e-01 0.00000000e+00 8.04759608e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14008005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.74, Y:8.05, Z:-0.01 [[ 9.72455343e-01 -2.33089266e-01 0.00000000e+00 1.43742015e+02] [ 2.33089266e-01 9.72455343e-01 0.00000000e+00 8.05423031e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06910932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.77, Y:8.06, Z:-0.01 [[ 9.72354338e-01 -2.33510261e-01 0.00000000e+00 1.43769475e+02] [ 2.33510261e-01 9.72354338e-01 0.00000000e+00 8.06019634e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46734857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.80, Y:8.07, Z:-0.01 [[ 9.72334565e-01 -2.33592582e-01 0.00000000e+00 1.43797186e+02] [ 2.33592582e-01 9.72334565e-01 0.00000000e+00 8.06664025e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30775283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.83, Y:8.07, Z:-0.02 [[ 9.72307329e-01 -2.33705921e-01 0.00000000e+00 1.43825232e+02] [ 2.33705921e-01 9.72307329e-01 0.00000000e+00 8.07328715e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54418254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.85, Y:8.08, Z:-0.02 [[ 9.71967958e-01 -2.35113353e-01 0.00000000e+00 1.43853254e+02] [ 2.35113353e-01 9.71967958e-01 0.00000000e+00 8.07599200e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03080265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.88, Y:8.08, Z:-0.02 [[ 9.71690377e-01 -2.36257934e-01 0.00000000e+00 1.43880024e+02] [ 2.36257934e-01 9.71690377e-01 0.00000000e+00 8.08214906e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27548175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.91, Y:8.09, Z:-0.02 [[ 9.71646084e-01 -2.36440031e-01 0.00000000e+00 1.43907375e+02] [ 2.36440031e-01 9.71646084e-01 0.00000000e+00 8.09002460e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27548175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.94, Y:8.10, Z:-0.02 [[ 9.71110026e-01 -2.38632180e-01 0.00000000e+00 1.43935195e+02] [ 2.38632180e-01 9.71110026e-01 0.00000000e+00 8.10054593e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56813665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.695336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.96, Y:8.11, Z:-0.01 [[ 9.70819624e-01 -2.39810880e-01 0.00000000e+00 1.43963238e+02] [ 2.39810880e-01 9.70819624e-01 0.00000000e+00 8.10879925e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38120601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.99, Y:8.11, Z:-0.02 [[ 9.70441632e-01 -2.41335946e-01 0.00000000e+00 1.43990853e+02] [ 2.41335946e-01 9.70441632e-01 0.00000000e+00 8.11180062e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74423325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.02, Y:8.12, Z:-0.01 [[ 9.70263075e-01 -2.42052815e-01 0.00000000e+00 1.44020019e+02] [ 2.42052815e-01 9.70263075e-01 0.00000000e+00 8.11577027e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18807403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.05, Y:8.12, Z:-0.01 [[ 9.69761320e-01 -2.44055287e-01 0.00000000e+00 1.44048715e+02] [ 2.44055287e-01 9.69761320e-01 0.00000000e+00 8.11569291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10033793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.08, Y:8.12, Z:-0.01 [[ 9.69462020e-01 -2.45241496e-01 0.00000000e+00 1.44077044e+02] [ 2.45241496e-01 9.69462020e-01 0.00000000e+00 8.12288348e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00632082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.10, Y:8.13, Z:-0.01 [[ 9.69156607e-01 -2.46445675e-01 0.00000000e+00 1.44103756e+02] [ 2.46445675e-01 9.69156607e-01 0.00000000e+00 8.13190695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99440192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.13, Y:8.14, Z:-0.01 [[ 9.69064539e-01 -2.46807455e-01 0.00000000e+00 1.44131699e+02] [ 2.46807455e-01 9.69064539e-01 0.00000000e+00 8.14084639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.99764009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.16, Y:8.15, Z:-0.02 [[ 9.69179650e-01 -2.46355041e-01 0.00000000e+00 1.44159395e+02] [ 2.46355041e-01 9.69179650e-01 0.00000000e+00 8.14560630e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60050914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93533619500002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.19, Y:8.15, Z:-0.01 [[ 9.69305513e-01 -2.45859354e-01 0.00000000e+00 1.44188295e+02] [ 2.45859354e-01 9.69305513e-01 0.00000000e+00 8.14880883e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41664013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.22, Y:8.15, Z:-0.02 [[ 9.69580982e-01 -2.44770749e-01 0.00000000e+00 1.44217160e+02] [ 2.44770749e-01 9.69580982e-01 0.00000000e+00 8.14737750e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56261713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.24, Y:8.16, Z:-0.01 [[ 9.70092106e-01 -2.42737114e-01 0.00000000e+00 1.44243166e+02] [ 2.42737114e-01 9.70092106e-01 0.00000000e+00 8.15867067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12716042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.27, Y:8.17, Z:-0.01 [[ 9.70516028e-01 -2.41036592e-01 0.00000000e+00 1.44268619e+02] [ 2.41036592e-01 9.70516028e-01 0.00000000e+00 8.16918140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08402327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.30, Y:8.18, Z:-0.01 [[ 9.71254123e-01 -2.38045013e-01 0.00000000e+00 1.44295053e+02] [ 2.38045013e-01 9.71254123e-01 0.00000000e+00 8.17626273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07305452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.32, Y:8.18, Z:-0.01 [[ 9.71450129e-01 -2.37243854e-01 0.00000000e+00 1.44322204e+02] [ 2.37243854e-01 9.71450129e-01 0.00000000e+00 8.18200229e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47939688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.35, Y:8.19, Z:-0.01 [[ 9.71586315e-01 -2.36685515e-01 0.00000000e+00 1.44350019e+02] [ 2.36685515e-01 9.71586315e-01 0.00000000e+00 8.18526119e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.25687769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.38, Y:8.19, Z:-0.01 [[ 9.71675448e-01 -2.36319327e-01 0.00000000e+00 1.44376383e+02] [ 2.36319327e-01 9.71675448e-01 0.00000000e+00 8.19375330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15541390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.40, Y:8.20, Z:-0.01 [[ 9.71833554e-01 -2.35668290e-01 0.00000000e+00 1.44402373e+02] [ 2.35668290e-01 9.71833554e-01 0.00000000e+00 8.20294885e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.00278433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.43, Y:8.21, Z:-0.00 [[ 9.72164201e-01 -2.34300592e-01 0.00000000e+00 1.44429370e+02] [ 2.34300592e-01 9.72164201e-01 0.00000000e+00 8.21231332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38931758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.46, Y:8.22, Z:-0.00 [[ 9.72268098e-01 -2.33869080e-01 0.00000000e+00 1.44456717e+02] [ 2.33869080e-01 9.72268098e-01 0.00000000e+00 8.22040908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44491151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.48, Y:8.23, Z:-0.00 [[ 9.72329684e-01 -2.33612898e-01 0.00000000e+00 1.44484261e+02] [ 2.33612898e-01 9.72329684e-01 0.00000000e+00 8.22948742e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.98772075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.51, Y:8.24, Z:-0.00 [[ 9.72078020e-01 -2.34657886e-01 0.00000000e+00 1.44510108e+02] [ 2.34657886e-01 9.72078020e-01 0.00000000e+00 8.23873506e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.99695756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.54, Y:8.25, Z:-0.00 [[ 9.71360874e-01 -2.37609032e-01 0.00000000e+00 1.44535981e+02] [ 2.37609032e-01 9.71360874e-01 0.00000000e+00 8.24904451e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.48466397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.56, Y:8.26, Z:0.00 [[ 9.70840012e-01 -2.39728328e-01 0.00000000e+00 1.44563907e+02] [ 2.39728328e-01 9.70840012e-01 0.00000000e+00 8.25692224e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.99268516e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.385336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:144.59, Y:8.26, Z:0.00 [[ 9.69663928e-01 -2.44441950e-01 0.00000000e+00 1.44591008e+02] [ 2.44441950e-01 9.69663928e-01 0.00000000e+00 8.26324526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01106717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.62, Y:8.27, Z:0.01 [[ 9.68597058e-01 -2.48635757e-01 0.00000000e+00 1.44617527e+02] [ 2.48635757e-01 9.68597058e-01 0.00000000e+00 8.27016543e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.78643828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.64, Y:8.28, Z:0.00 [[ 9.68282871e-01 -2.49856524e-01 0.00000000e+00 1.44644522e+02] [ 2.49856524e-01 9.68282871e-01 0.00000000e+00 8.27783263e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54544755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.67, Y:8.28, Z:0.00 [[ 9.67943790e-01 -2.51166916e-01 0.00000000e+00 1.44672197e+02] [ 2.51166916e-01 9.67943790e-01 0.00000000e+00 8.28434487e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19033684e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:8.29, Z:0.00 [[ 9.67910339e-01 -2.51295795e-01 0.00000000e+00 1.44700382e+02] [ 2.51295795e-01 9.67910339e-01 0.00000000e+00 8.28945310e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92457182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.73, Y:8.29, Z:0.00 [[ 9.68307377e-01 -2.49761535e-01 0.00000000e+00 1.44728120e+02] [ 2.49761535e-01 9.68307377e-01 0.00000000e+00 8.29312939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79305175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.75, Y:8.30, Z:0.00 [[ 9.68659876e-01 -2.48390911e-01 0.00000000e+00 1.44753516e+02] [ 2.48390911e-01 9.68659876e-01 0.00000000e+00 8.30120955e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43872210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.78, Y:8.31, Z:-0.00 [[ 9.69534629e-01 -2.44954286e-01 0.00000000e+00 1.44779572e+02] [ 2.44954286e-01 9.69534629e-01 0.00000000e+00 8.31028002e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64075169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.81, Y:8.32, Z:0.00 [[ 9.70354887e-01 -2.41684492e-01 0.00000000e+00 1.44808012e+02] [ 2.41684492e-01 9.70354887e-01 0.00000000e+00 8.31560222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96247929e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.84, Y:8.32, Z:0.00 [[ 9.70798653e-01 -2.39895760e-01 0.00000000e+00 1.44835405e+02] [ 2.39895760e-01 9.70798653e-01 0.00000000e+00 8.32115053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05460537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.86, Y:8.32, Z:0.00 [[ 9.71692785e-01 -2.36248030e-01 0.00000000e+00 1.44864731e+02] [ 2.36248030e-01 9.71692785e-01 0.00000000e+00 8.32415617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38582838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.89, Y:8.33, Z:0.00 [[ 9.72391581e-01 -2.33355122e-01 0.00000000e+00 1.44892325e+02] [ 2.33355122e-01 9.72391581e-01 0.00000000e+00 8.33338060e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47978676e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.745336195 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:144.92, Y:8.34, Z:0.00 [[ 9.72592225e-01 -2.32517449e-01 0.00000000e+00 1.44918081e+02] [ 2.32517449e-01 9.72592225e-01 0.00000000e+00 8.34392227e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67587229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.94, Y:8.35, Z:0.00 [[ 9.72903652e-01 -2.31210910e-01 0.00000000e+00 1.44944995e+02] [ 2.31210910e-01 9.72903652e-01 0.00000000e+00 8.35178607e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57350687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.97, Y:8.36, Z:0.00 [[ 9.72870275e-01 -2.31351309e-01 0.00000000e+00 1.44973366e+02] [ 2.31351309e-01 9.72870275e-01 0.00000000e+00 8.35547832e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.07140813e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.00, Y:8.36, Z:-0.00 [[ 9.72440221e-01 -2.33152348e-01 0.00000000e+00 1.45003615e+02] [ 2.33152348e-01 9.72440221e-01 0.00000000e+00 8.35633966e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09419571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.03, Y:8.36, Z:-0.00 [[ 9.72018820e-01 -2.34902986e-01 0.00000000e+00 1.45031138e+02] [ 2.34902986e-01 9.72018820e-01 0.00000000e+00 8.36373421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25512797e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.06, Y:8.37, Z:0.00 [[ 9.71847324e-01 -2.35611501e-01 0.00000000e+00 1.45058331e+02] [ 2.35611501e-01 9.71847324e-01 0.00000000e+00 8.37192652e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63444079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.08, Y:8.38, Z:0.01 [[ 9.71812321e-01 -2.35755832e-01 0.00000000e+00 1.45084814e+02] [ 2.35755832e-01 9.71812321e-01 0.00000000e+00 8.37913134e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82035392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.11, Y:8.39, Z:0.00 [[ 9.71995236e-01 -2.35000556e-01 0.00000000e+00 1.45111629e+02] [ 2.35000556e-01 9.71995236e-01 0.00000000e+00 8.38550425e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31185913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.14, Y:8.39, Z:0.00 [[ 9.72224769e-01 -2.34049135e-01 0.00000000e+00 1.45139409e+02] [ 2.34049135e-01 9.72224769e-01 0.00000000e+00 8.38756515e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02040252e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.17, Y:8.39, Z:0.01 [[ 9.72323484e-01 -2.33638701e-01 0.00000000e+00 1.45168030e+02] [ 2.33638701e-01 9.72323484e-01 0.00000000e+00 8.39357331e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75892713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.20, Y:8.40, Z:0.01 [[ 9.72592999e-01 -2.32514209e-01 0.00000000e+00 1.45195612e+02] [ 2.32514209e-01 9.72592999e-01 0.00000000e+00 8.40314303e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.50354503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.22, Y:8.41, Z:0.01 [[ 9.72616899e-01 -2.32414217e-01 0.00000000e+00 1.45223455e+02] [ 2.32414217e-01 9.72616899e-01 0.00000000e+00 8.41234295e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.43892564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.25, Y:8.42, Z:0.01 [[ 9.72541202e-01 -2.32730767e-01 0.00000000e+00 1.45250422e+02] [ 2.32730767e-01 9.72541202e-01 0.00000000e+00 8.41963188e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.27484568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.28, Y:8.43, Z:0.01 [[ 9.72249505e-01 -2.33946361e-01 0.00000000e+00 1.45276267e+02] [ 2.33946361e-01 9.72249505e-01 0.00000000e+00 8.42927077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64861469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.30, Y:8.44, Z:0.00 [[ 9.72018981e-01 -2.34902320e-01 0.00000000e+00 1.45303383e+02] [ 2.34902320e-01 9.72018981e-01 0.00000000e+00 8.43681439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98925747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.33, Y:8.44, Z:0.01 [[ 9.71840455e-01 -2.35639831e-01 0.00000000e+00 1.45332220e+02] [ 2.35639831e-01 9.71840455e-01 0.00000000e+00 8.44164590e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37146056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.36, Y:8.45, Z:0.00 [[ 9.71872913e-01 -2.35505925e-01 0.00000000e+00 1.45360161e+02] [ 2.35505925e-01 9.71872913e-01 0.00000000e+00 8.45076666e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96456460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.39, Y:8.46, Z:-0.00 [[ 9.71996906e-01 -2.34993648e-01 0.00000000e+00 1.45385452e+02] [ 2.34993648e-01 9.71996906e-01 0.00000000e+00 8.46234660e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30085990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.41, Y:8.47, Z:-0.00 [[ 9.71985607e-01 -2.35040378e-01 0.00000000e+00 1.45411952e+02] [ 2.35040378e-01 9.71985607e-01 0.00000000e+00 8.47156661e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17313954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.44, Y:8.48, Z:-0.00 [[ 9.71689224e-01 -2.36262675e-01 0.00000000e+00 1.45437289e+02] [ 2.36262675e-01 9.71689224e-01 0.00000000e+00 8.48303476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.98954613e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.46, Y:8.49, Z:-0.00 [[ 9.71522131e-01 -2.36948831e-01 0.00000000e+00 1.45463739e+02] [ 2.36948831e-01 9.71522131e-01 0.00000000e+00 8.49297899e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40361965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.49, Y:8.50, Z:0.00 [[ 9.71273465e-01 -2.37966083e-01 0.00000000e+00 1.45490782e+02] [ 2.37966083e-01 9.71273465e-01 0.00000000e+00 8.50210665e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89642088e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.52, Y:8.51, Z:0.00 [[ 9.70736042e-01 -2.40148988e-01 0.00000000e+00 1.45517186e+02] [ 2.40148988e-01 9.70736042e-01 0.00000000e+00 8.50931338e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40086027e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.54, Y:8.52, Z:0.00 [[ 9.70364741e-01 -2.41644924e-01 0.00000000e+00 1.45543149e+02] [ 2.41644924e-01 9.70364741e-01 0.00000000e+00 8.51977735e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31091800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.57, Y:8.53, Z:0.00 [[ 9.69773232e-01 -2.44007946e-01 0.00000000e+00 1.45569333e+02] [ 2.44007946e-01 9.69773232e-01 0.00000000e+00 8.53250721e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62599838e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.60, Y:8.54, Z:0.00 [[ 9.69575356e-01 -2.44793032e-01 0.00000000e+00 1.45595797e+02] [ 2.44793032e-01 9.69575356e-01 0.00000000e+00 8.54046901e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.86790362e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.62, Y:8.55, Z:0.00 [[ 9.69528405e-01 -2.44978921e-01 0.00000000e+00 1.45623099e+02] [ 2.44978921e-01 9.69528405e-01 0.00000000e+00 8.54855187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.86790362e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.65, Y:8.56, Z:0.01 [[ 9.69215102e-01 -2.46215527e-01 0.00000000e+00 1.45650765e+02] [ 2.46215527e-01 9.69215102e-01 0.00000000e+00 8.55695625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10777770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.68, Y:8.56, Z:0.00 [[ 9.69076822e-01 -2.46759221e-01 0.00000000e+00 1.45677268e+02] [ 2.46759221e-01 9.69076822e-01 0.00000000e+00 8.56447295e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32820146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.70, Y:8.57, Z:0.00 [[ 9.68854684e-01 -2.47629968e-01 0.00000000e+00 1.45703941e+02] [ 2.47629968e-01 9.68854684e-01 0.00000000e+00 8.57219448e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13673557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.73, Y:8.58, Z:0.01 [[ 9.68930352e-01 -2.47333728e-01 0.00000000e+00 1.45730689e+02] [ 2.47333728e-01 9.68930352e-01 0.00000000e+00 8.58180335e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.97913462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.76, Y:8.59, Z:0.01 [[ 9.69206881e-01 -2.46247887e-01 0.00000000e+00 1.45757420e+02] [ 2.46247887e-01 9.69206881e-01 0.00000000e+00 8.59221218e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.87119098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.78, Y:8.60, Z:0.01 [[ 9.69574565e-01 -2.44796166e-01 0.00000000e+00 1.45784658e+02] [ 2.44796166e-01 9.69574565e-01 0.00000000e+00 8.59802204e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.23856266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.81, Y:8.61, Z:0.01 [[ 9.69852435e-01 -2.43692950e-01 0.00000000e+00 1.45811534e+02] [ 2.43692950e-01 9.69852435e-01 0.00000000e+00 8.60641304e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.68002582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.84, Y:8.62, Z:0.01 [[ 9.70520632e-01 -2.41018057e-01 0.00000000e+00 1.45837384e+02] [ 2.41018057e-01 9.70520632e-01 0.00000000e+00 8.61690205e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31610579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.86, Y:8.63, Z:0.01 [[ 9.70800952e-01 -2.39886456e-01 0.00000000e+00 1.45864816e+02] [ 2.39886456e-01 9.70800952e-01 0.00000000e+00 8.62552502e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.97264685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.89, Y:8.64, Z:0.00 [[ 9.71416801e-01 -2.37380285e-01 0.00000000e+00 1.45890567e+02] [ 2.37380285e-01 9.71416801e-01 0.00000000e+00 8.63657998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63687556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.92, Y:8.65, Z:0.01 [[ 9.71582612e-01 -2.36700713e-01 0.00000000e+00 1.45917849e+02] [ 2.36700713e-01 9.71582612e-01 0.00000000e+00 8.64668839e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67444487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.94, Y:8.65, Z:0.00 [[ 9.71680198e-01 -2.36299794e-01 0.00000000e+00 1.45944972e+02] [ 2.36299794e-01 9.71680198e-01 0.00000000e+00 8.65323519e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53055984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.97, Y:8.66, Z:0.00 [[ 9.71585602e-01 -2.36688439e-01 0.00000000e+00 1.45972625e+02] [ 2.36688439e-01 9.71585602e-01 0.00000000e+00 8.65907465e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.80967371e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.00, Y:8.66, Z:0.00 [[ 9.71092623e-01 -2.38702992e-01 0.00000000e+00 1.46001078e+02] [ 2.38702992e-01 9.71092623e-01 0.00000000e+00 8.66444884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02599623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.03, Y:8.67, Z:0.00 [[ 9.70302491e-01 -2.41894761e-01 0.00000000e+00 1.46027358e+02] [ 2.41894761e-01 9.70302491e-01 0.00000000e+00 8.67201015e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26509104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.05, Y:8.68, Z:0.00 [[ 9.69927951e-01 -2.43392212e-01 0.00000000e+00 1.46054005e+02] [ 2.43392212e-01 9.69927951e-01 0.00000000e+00 8.68122261e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59248577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.08, Y:8.69, Z:0.01 [[ 9.69478915e-01 -2.45174699e-01 0.00000000e+00 1.46080649e+02] [ 2.45174699e-01 9.69478915e-01 0.00000000e+00 8.69084636e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.49000590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.11, Y:8.70, Z:0.01 [[ 9.69338791e-01 -2.45728119e-01 0.00000000e+00 1.46107706e+02] [ 2.45728119e-01 9.69338791e-01 0.00000000e+00 8.69771236e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.96927936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.14, Y:8.70, Z:0.01 [[ 9.69089140e-01 -2.46710842e-01 0.00000000e+00 1.46136703e+02] [ 2.46710842e-01 9.69089140e-01 0.00000000e+00 8.69937725e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03529212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.17, Y:8.71, Z:0.01 [[ 9.68882294e-01 -2.47521918e-01 0.00000000e+00 1.46165140e+02] [ 2.47521918e-01 9.68882294e-01 0.00000000e+00 8.70540912e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17384628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.19, Y:8.72, Z:0.01 [[ 9.68699871e-01 -2.48234890e-01 0.00000000e+00 1.46191069e+02] [ 2.48234890e-01 9.68699871e-01 0.00000000e+00 8.71749425e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.21963150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.22, Y:8.73, Z:0.00 [[ 9.68922182e-01 -2.47365733e-01 0.00000000e+00 1.46217386e+02] [ 2.47365733e-01 9.68922182e-01 0.00000000e+00 8.72842172e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15101531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.25, Y:8.73, Z:0.00 [[ 9.68992802e-01 -2.47088950e-01 0.00000000e+00 1.46246053e+02] [ 2.47088950e-01 9.68992802e-01 0.00000000e+00 8.73403085e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46379180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.27, Y:8.74, Z:0.01 [[ 9.69142133e-01 -2.46502587e-01 0.00000000e+00 1.46274252e+02] [ 2.46502587e-01 9.69142133e-01 0.00000000e+00 8.73688831e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73058125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.30, Y:8.74, Z:0.01 [[ 9.69086888e-01 -2.46719687e-01 0.00000000e+00 1.46300483e+02] [ 2.46719687e-01 9.69086888e-01 0.00000000e+00 8.74403075e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04812996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.33, Y:8.76, Z:0.01 [[ 9.69015642e-01 -2.46999363e-01 0.00000000e+00 1.46326400e+02] [ 2.46999363e-01 9.69015642e-01 0.00000000e+00 8.75608917e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.24432424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.35, Y:8.77, Z:0.01 [[ 9.69055445e-01 -2.46843157e-01 0.00000000e+00 1.46353908e+02] [ 2.46843157e-01 9.69055445e-01 0.00000000e+00 8.76546057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28482076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.38, Y:8.77, Z:0.01 [[ 9.68982369e-01 -2.47129863e-01 0.00000000e+00 1.46382441e+02] [ 2.47129863e-01 9.68982369e-01 0.00000000e+00 8.76992690e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49412547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.41, Y:8.77, Z:0.01 [[ 9.68829580e-01 -2.47728167e-01 0.00000000e+00 1.46410717e+02] [ 2.47728167e-01 9.68829580e-01 0.00000000e+00 8.77308466e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31229206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.44, Y:8.78, Z:0.01 [[ 9.68527311e-01 -2.48907309e-01 0.00000000e+00 1.46439774e+02] [ 2.48907309e-01 9.68527311e-01 0.00000000e+00 8.77800695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42805824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.47, Y:8.79, Z:0.01 [[ 9.68644561e-01 -2.48450629e-01 0.00000000e+00 1.46466139e+02] [ 2.48450629e-01 9.68644561e-01 0.00000000e+00 8.79000057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42714290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.49, Y:8.80, Z:0.01 [[ 9.68894267e-01 -2.47475048e-01 0.00000000e+00 1.46491925e+02] [ 2.47475048e-01 9.68894267e-01 0.00000000e+00 8.79849694e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10264397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.52, Y:8.80, Z:0.01 [[ 9.69666708e-01 -2.44430922e-01 0.00000000e+00 1.46519202e+02] [ 2.44430922e-01 9.69666708e-01 0.00000000e+00 8.80274407e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06397162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.55, Y:8.81, Z:0.01 [[ 9.70143049e-01 -2.42533431e-01 0.00000000e+00 1.46546804e+02] [ 2.42533431e-01 9.70143049e-01 0.00000000e+00 8.80752648e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21667424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.57, Y:8.81, Z:0.01 [[ 9.71145433e-01 -2.38488045e-01 0.00000000e+00 1.46574438e+02] [ 2.38488045e-01 9.71145433e-01 0.00000000e+00 8.81322612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41037925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.60, Y:8.82, Z:0.02 [[ 9.72179180e-01 -2.34238428e-01 0.00000000e+00 1.46601362e+02] [ 2.34238428e-01 9.72179180e-01 0.00000000e+00 8.82422972e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71794824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.63, Y:8.83, Z:0.02 [[ 9.72688786e-01 -2.32113173e-01 0.00000000e+00 1.46628206e+02] [ 2.32113173e-01 9.72688786e-01 0.00000000e+00 8.83319927e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70528191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.66, Y:8.84, Z:0.02 [[ 9.73532809e-01 -2.28547301e-01 0.00000000e+00 1.46656468e+02] [ 2.28547301e-01 9.73532809e-01 0.00000000e+00 8.84064112e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71895032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.68, Y:8.85, Z:0.02 [[ 9.73662874e-01 -2.27992560e-01 0.00000000e+00 1.46683950e+02] [ 2.27992560e-01 9.73662874e-01 0.00000000e+00 8.84705747e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72935920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.71, Y:8.85, Z:0.02 [[ 9.73509660e-01 -2.28645888e-01 0.00000000e+00 1.46711469e+02] [ 2.28645888e-01 9.73509660e-01 0.00000000e+00 8.85487544e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70138508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.74, Y:8.86, Z:0.01 [[ 9.73329556e-01 -2.29411369e-01 0.00000000e+00 1.46736383e+02] [ 2.29411369e-01 9.73329556e-01 0.00000000e+00 8.86433498e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48322188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.76, Y:8.88, Z:0.02 [[ 9.72801719e-01 -2.31639406e-01 0.00000000e+00 1.46761673e+02] [ 2.31639406e-01 9.72801719e-01 0.00000000e+00 8.87576395e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66185970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.79, Y:8.88, Z:0.02 [[ 9.72442886e-01 -2.33141230e-01 0.00000000e+00 1.46787712e+02] [ 2.33141230e-01 9.72442886e-01 0.00000000e+00 8.88498614e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56135475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.81, Y:8.89, Z:0.02 [[ 9.71640740e-01 -2.36461988e-01 0.00000000e+00 1.46814135e+02] [ 2.36461988e-01 9.71640740e-01 0.00000000e+00 8.89276208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55282811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.84, Y:8.90, Z:0.02 [[ 9.71218980e-01 -2.38188357e-01 0.00000000e+00 1.46841790e+02] [ 2.38188357e-01 9.71218980e-01 0.00000000e+00 8.89938918e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58963722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.87, Y:8.91, Z:0.02 [[ 9.70377614e-01 -2.41593225e-01 0.00000000e+00 1.46868954e+02] [ 2.41593225e-01 9.70377614e-01 0.00000000e+00 8.90571475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75640453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.89, Y:8.92, Z:0.02 [[ 9.69691127e-01 -2.44334032e-01 0.00000000e+00 1.46893965e+02] [ 2.44334032e-01 9.69691127e-01 0.00000000e+00 8.91580862e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63598708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.92, Y:8.93, Z:0.02 [[ 9.69276476e-01 -2.45973807e-01 0.00000000e+00 1.46920133e+02] [ 2.45973807e-01 9.69276476e-01 0.00000000e+00 8.92605473e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57792804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.95, Y:8.94, Z:0.02 [[ 9.68368146e-01 -2.49525819e-01 0.00000000e+00 1.46947677e+02] [ 2.49525819e-01 9.68368146e-01 0.00000000e+00 8.93553588e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60817866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.025336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:146.97, Y:8.94, Z:0.02 [[ 9.67964783e-01 -2.51085997e-01 0.00000000e+00 1.46974693e+02] [ 2.51085997e-01 9.67964783e-01 0.00000000e+00 8.94244942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59765951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.00, Y:8.95, Z:0.02 [[ 9.67484074e-01 -2.52931940e-01 0.00000000e+00 1.47001732e+02] [ 2.52931940e-01 9.67484074e-01 0.00000000e+00 8.94899320e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53039240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.03, Y:8.96, Z:0.02 [[ 9.67389001e-01 -2.53295323e-01 0.00000000e+00 1.47028605e+02] [ 2.53295323e-01 9.67389001e-01 0.00000000e+00 8.95792395e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58791443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.06, Y:8.97, Z:0.02 [[ 9.67109998e-01 -2.54358510e-01 0.00000000e+00 1.47056341e+02] [ 2.54358510e-01 9.67109998e-01 0.00000000e+00 8.96701992e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78216146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.08, Y:8.97, Z:0.02 [[ 9.66565671e-01 -2.56419196e-01 0.00000000e+00 1.47083282e+02] [ 2.56419196e-01 9.66565671e-01 0.00000000e+00 8.97296249e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76384382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.11, Y:8.98, Z:0.02 [[ 9.66256021e-01 -2.57583584e-01 0.00000000e+00 1.47111235e+02] [ 2.57583584e-01 9.66256021e-01 0.00000000e+00 8.97963627e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93852327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.14, Y:8.98, Z:0.02 [[ 9.65931914e-01 -2.58796323e-01 0.00000000e+00 1.47138339e+02] [ 2.58796323e-01 9.65931914e-01 0.00000000e+00 8.98497422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66993761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.17, Y:8.99, Z:0.02 [[ 9.65922769e-01 -2.58830453e-01 0.00000000e+00 1.47166287e+02] [ 2.58830453e-01 9.65922769e-01 0.00000000e+00 8.99247321e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79817383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.19, Y:9.00, Z:0.01 [[ 9.66342018e-01 -2.57260773e-01 0.00000000e+00 1.47193860e+02] [ 2.57260773e-01 9.66342018e-01 0.00000000e+00 8.99638422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41005703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.22, Y:9.00, Z:0.01 [[ 9.66645247e-01 -2.56119049e-01 0.00000000e+00 1.47221648e+02] [ 2.56119049e-01 9.66645247e-01 0.00000000e+00 9.00211159e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34475628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.25, Y:9.01, Z:0.01 [[ 9.67571155e-01 -2.52598613e-01 0.00000000e+00 1.47248502e+02] [ 2.52598613e-01 9.67571155e-01 0.00000000e+00 9.00836555e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47261772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.27, Y:9.02, Z:0.02 [[ 9.68613255e-01 -2.48572651e-01 0.00000000e+00 1.47274218e+02] [ 2.48572651e-01 9.68613255e-01 0.00000000e+00 9.01868483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52695682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.30, Y:9.03, Z:0.01 [[ 9.69117111e-01 -2.46600943e-01 0.00000000e+00 1.47301782e+02] [ 2.46600943e-01 9.69117111e-01 0.00000000e+00 9.02726942e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49599981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.33, Y:9.03, Z:0.02 [[ 9.70017262e-01 -2.43036028e-01 0.00000000e+00 1.47329516e+02] [ 2.43036028e-01 9.70017262e-01 0.00000000e+00 9.03272730e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50204990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.36, Y:9.04, Z:0.02 [[ 9.69972208e-01 -2.43215780e-01 0.00000000e+00 1.47356760e+02] [ 2.43215780e-01 9.69972208e-01 0.00000000e+00 9.04103472e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50204990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.38, Y:9.05, Z:0.02 [[ 9.70364453e-01 -2.41646082e-01 0.00000000e+00 1.47384982e+02] [ 2.41646082e-01 9.70364453e-01 0.00000000e+00 9.04760605e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93815420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.41, Y:9.05, Z:0.02 [[ 9.71171419e-01 -2.38382202e-01 0.00000000e+00 1.47411963e+02] [ 2.38382202e-01 9.71171419e-01 0.00000000e+00 9.05302541e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77965845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.44, Y:9.06, Z:0.02 [[ 9.71321648e-01 -2.37769335e-01 0.00000000e+00 1.47439744e+02] [ 2.37769335e-01 9.71321648e-01 0.00000000e+00 9.06164385e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58129789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.46, Y:9.07, Z:0.01 [[ 9.71586225e-01 -2.36685884e-01 0.00000000e+00 1.47464425e+02] [ 2.36685884e-01 9.71586225e-01 0.00000000e+00 9.07498879e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49872818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.49, Y:9.09, Z:0.01 [[ 9.71742176e-01 -2.36044792e-01 0.00000000e+00 1.47489328e+02] [ 2.36044792e-01 9.71742176e-01 0.00000000e+00 9.08524875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35326769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.52, Y:9.09, Z:0.01 [[ 9.71814130e-01 -2.35748377e-01 0.00000000e+00 1.47517404e+02] [ 2.35748377e-01 9.71814130e-01 0.00000000e+00 9.09188733e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20780042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.55, Y:9.10, Z:0.01 [[ 9.71931636e-01 -2.35263457e-01 0.00000000e+00 1.47545651e+02] [ 2.35263457e-01 9.71931636e-01 0.00000000e+00 9.09653761e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36690363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.57, Y:9.10, Z:0.01 [[ 9.71875192e-01 -2.35496519e-01 0.00000000e+00 1.47571181e+02] [ 2.35496519e-01 9.71875192e-01 0.00000000e+00 9.10482459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32213968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.60, Y:9.12, Z:0.02 [[ 9.71496724e-01 -2.37052981e-01 0.00000000e+00 1.47596667e+02] [ 2.37052981e-01 9.71496724e-01 0.00000000e+00 9.12088416e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65840415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.62, Y:9.13, Z:0.02 [[ 9.71263359e-01 -2.38007325e-01 0.00000000e+00 1.47622816e+02] [ 2.38007325e-01 9.71263359e-01 0.00000000e+00 9.13496750e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93734492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.65, Y:9.15, Z:0.02 [[ 9.70647375e-01 -2.40507118e-01 0.00000000e+00 1.47647874e+02] [ 2.40507118e-01 9.70647375e-01 0.00000000e+00 9.14774822e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61606693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.68, Y:9.15, Z:0.01 [[ 9.69715583e-01 -2.44236952e-01 0.00000000e+00 1.47677265e+02] [ 2.44236952e-01 9.69715583e-01 0.00000000e+00 9.15029556e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26471247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.71, Y:9.16, Z:0.02 [[ 9.69168364e-01 -2.46399438e-01 0.00000000e+00 1.47705353e+02] [ 2.46399438e-01 9.69168364e-01 0.00000000e+00 9.15732425e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66395806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.73, Y:9.17, Z:0.02 [[ 9.68699327e-01 -2.48237012e-01 0.00000000e+00 1.47732618e+02] [ 2.48237012e-01 9.68699327e-01 0.00000000e+00 9.16831148e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88652561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.76, Y:9.19, Z:0.02 [[ 9.67930459e-01 -2.51218285e-01 0.00000000e+00 1.47756770e+02] [ 2.51218285e-01 9.67930459e-01 0.00000000e+00 9.18923710e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85801545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.78, Y:9.20, Z:0.01 [[ 9.67085796e-01 -2.54450511e-01 0.00000000e+00 1.47782417e+02] [ 2.54450511e-01 9.67085796e-01 0.00000000e+00 9.20160983e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20570993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.81, Y:9.21, Z:0.01 [[ 9.66519278e-01 -2.56594007e-01 0.00000000e+00 1.47811088e+02] [ 2.56594007e-01 9.66519278e-01 0.00000000e+00 9.20768345e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22187961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.84, Y:9.21, Z:0.01 [[ 9.65205235e-01 -2.61493509e-01 0.00000000e+00 1.47839107e+02] [ 2.61493509e-01 9.65205235e-01 0.00000000e+00 9.21253874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30360490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.87, Y:9.22, Z:0.02 [[ 9.64558173e-01 -2.63870291e-01 0.00000000e+00 1.47866457e+02] [ 2.63870291e-01 9.64558173e-01 0.00000000e+00 9.22286458e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56061364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.89, Y:9.24, Z:0.02 [[ 9.63805219e-01 -2.66607388e-01 0.00000000e+00 1.47892343e+02] [ 2.66607388e-01 9.63805219e-01 0.00000000e+00 9.23651084e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76894189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.92, Y:9.25, Z:0.02 [[ 9.63686489e-01 -2.67036233e-01 0.00000000e+00 1.47918597e+02] [ 2.67036233e-01 9.63686489e-01 0.00000000e+00 9.24620817e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64897897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.95, Y:9.25, Z:0.01 [[ 9.63997295e-01 -2.65912045e-01 0.00000000e+00 1.47945922e+02] [ 2.65912045e-01 9.63997295e-01 0.00000000e+00 9.25201210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05585419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.97, Y:9.26, Z:0.01 [[ 9.64438466e-01 -2.64307483e-01 0.00000000e+00 1.47974400e+02] [ 2.64307483e-01 9.64438466e-01 0.00000000e+00 9.25690565e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00931290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.00, Y:9.27, Z:0.01 [[ 9.64620807e-01 -2.63641232e-01 0.00000000e+00 1.48000175e+02] [ 2.63641232e-01 9.64620807e-01 0.00000000e+00 9.26687236e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13175274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.02, Y:9.28, Z:0.01 [[ 9.65170247e-01 -2.61622619e-01 0.00000000e+00 1.48024784e+02] [ 2.61622619e-01 9.65170247e-01 0.00000000e+00 9.28116117e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13284477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.05, Y:9.29, Z:0.01 [[ 9.65388490e-01 -2.60816150e-01 0.00000000e+00 1.48052770e+02] [ 2.60816150e-01 9.65388490e-01 0.00000000e+00 9.28957137e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01229895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.08, Y:9.29, Z:0.01 [[ 9.65803023e-01 -2.59276918e-01 0.00000000e+00 1.48081668e+02] [ 2.59276918e-01 9.65803023e-01 0.00000000e+00 9.29201642e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18460648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.11, Y:9.30, Z:0.02 [[ 9.66193044e-01 -2.57819709e-01 0.00000000e+00 1.48110785e+02] [ 2.57819709e-01 9.66193044e-01 0.00000000e+00 9.29654947e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60461616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.14, Y:9.31, Z:0.01 [[ 9.66387651e-01 -2.57089301e-01 0.00000000e+00 1.48136879e+02] [ 2.57089301e-01 9.66387651e-01 0.00000000e+00 9.30576697e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31327044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.16, Y:9.32, Z:0.02 [[ 9.66695766e-01 -2.55928303e-01 0.00000000e+00 1.48163302e+02] [ 2.55928303e-01 9.66695766e-01 0.00000000e+00 9.31811240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81220774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.19, Y:9.33, Z:0.01 [[ 9.67639304e-01 -2.52337428e-01 0.00000000e+00 1.48187427e+02] [ 2.52337428e-01 9.67639304e-01 0.00000000e+00 9.33397919e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35742219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.22, Y:9.34, Z:0.01 [[ 9.68748695e-01 -2.48044282e-01 0.00000000e+00 1.48215853e+02] [ 2.48044282e-01 9.68748695e-01 0.00000000e+00 9.34004332e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27509274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.24, Y:9.35, Z:0.01 [[ 9.69231912e-01 -2.46149346e-01 0.00000000e+00 1.48242977e+02] [ 2.46149346e-01 9.69231912e-01 0.00000000e+00 9.34692391e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.62226603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.27, Y:9.36, Z:0.01 [[ 9.69740215e-01 -2.44139133e-01 0.00000000e+00 1.48270225e+02] [ 2.44139133e-01 9.69740215e-01 0.00000000e+00 9.35758872e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.04919033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.30, Y:9.37, Z:0.01 [[ 9.69724718e-01 -2.44200680e-01 0.00000000e+00 1.48297428e+02] [ 2.44200680e-01 9.69724718e-01 0.00000000e+00 9.36862695e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.42778636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.32, Y:9.38, Z:0.02 [[ 9.69484996e-01 -2.45150654e-01 0.00000000e+00 1.48323589e+02] [ 2.45150654e-01 9.69484996e-01 0.00000000e+00 9.38220437e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52342058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.35, Y:9.39, Z:0.02 [[ 9.68781086e-01 -2.47917744e-01 0.00000000e+00 1.48348491e+02] [ 2.47917744e-01 9.68781086e-01 0.00000000e+00 9.39403823e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74796831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.37, Y:9.40, Z:0.02 [[ 9.68257973e-01 -2.49952989e-01 0.00000000e+00 1.48374406e+02] [ 2.49952989e-01 9.68257973e-01 0.00000000e+00 9.40331464e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69434895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.40, Y:9.41, Z:0.02 [[ 9.67321323e-01 -2.53553659e-01 0.00000000e+00 1.48400127e+02] [ 2.53553659e-01 9.67321323e-01 0.00000000e+00 9.41363971e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60028550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.43, Y:9.42, Z:0.02 [[ 9.66861000e-01 -2.55303361e-01 0.00000000e+00 1.48426110e+02] [ 2.55303361e-01 9.66861000e-01 0.00000000e+00 9.42315773e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71665431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.45, Y:9.43, Z:0.01 [[ 9.65949163e-01 -2.58731936e-01 0.00000000e+00 1.48452634e+02] [ 2.58731936e-01 9.65949163e-01 0.00000000e+00 9.43234338e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14032748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.48, Y:9.44, Z:0.01 [[ 9.65489919e-01 -2.60440426e-01 0.00000000e+00 1.48480551e+02] [ 2.60440426e-01 9.65489919e-01 0.00000000e+00 9.44012769e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.71775801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.51, Y:9.45, Z:0.01 [[ 9.64700099e-01 -2.63350943e-01 0.00000000e+00 1.48505503e+02] [ 2.63350943e-01 9.64700099e-01 0.00000000e+00 9.45028058e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.85654973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.53, Y:9.46, Z:0.02 [[ 9.64368352e-01 -2.64563191e-01 0.00000000e+00 1.48532273e+02] [ 2.64563191e-01 9.64368352e-01 0.00000000e+00 9.46271319e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50235247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.56, Y:9.47, Z:0.02 [[ 9.63990288e-01 -2.65937444e-01 0.00000000e+00 1.48558539e+02] [ 2.65937444e-01 9.63990288e-01 0.00000000e+00 9.47427712e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86574189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.59, Y:9.48, Z:0.02 [[ 9.64002314e-01 -2.65893849e-01 0.00000000e+00 1.48585650e+02] [ 2.65893849e-01 9.64002314e-01 0.00000000e+00 9.47956011e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52794045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.61, Y:9.49, Z:0.02 [[ 9.64112006e-01 -2.65495837e-01 0.00000000e+00 1.48612762e+02] [ 2.65495837e-01 9.64112006e-01 0.00000000e+00 9.48704759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64921150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.64, Y:9.50, Z:0.02 [[ 9.64667578e-01 -2.63470045e-01 0.00000000e+00 1.48639103e+02] [ 2.63470045e-01 9.64667578e-01 0.00000000e+00 9.49758457e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65559452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.67, Y:9.51, Z:0.02 [[ 9.65030162e-01 -2.62138869e-01 0.00000000e+00 1.48666062e+02] [ 2.62138869e-01 9.65030162e-01 0.00000000e+00 9.50853823e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69228844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.69, Y:9.52, Z:0.01 [[ 9.65518687e-01 -2.60333757e-01 0.00000000e+00 1.48691449e+02] [ 2.60333757e-01 9.65518687e-01 0.00000000e+00 9.52007483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31553021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.72, Y:9.53, Z:0.01 [[ 9.65518168e-01 -2.60335682e-01 0.00000000e+00 1.48717642e+02] [ 2.60335682e-01 9.65518168e-01 0.00000000e+00 9.52927140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37465994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.74, Y:9.54, Z:0.01 [[ 9.65278860e-01 -2.61221596e-01 0.00000000e+00 1.48743532e+02] [ 2.61221596e-01 9.65278860e-01 0.00000000e+00 9.53874282e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49007282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.77, Y:9.55, Z:0.02 [[ 9.64954890e-01 -2.62415815e-01 0.00000000e+00 1.48769957e+02] [ 2.62415815e-01 9.64954890e-01 0.00000000e+00 9.54679354e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50782881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.80, Y:9.55, Z:0.02 [[ 9.64097321e-01 -2.65549159e-01 0.00000000e+00 1.48798340e+02] [ 2.65549159e-01 9.64097321e-01 0.00000000e+00 9.55326173e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95368976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.83, Y:9.56, Z:0.02 [[ 9.63089031e-01 -2.69183058e-01 0.00000000e+00 1.48826982e+02] [ 2.69183058e-01 9.63089031e-01 0.00000000e+00 9.55627204e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57508395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.85, Y:9.56, Z:0.02 [[ 9.62716124e-01 -2.70513705e-01 0.00000000e+00 1.48854428e+02] [ 2.70513705e-01 9.62716124e-01 0.00000000e+00 9.56268146e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72798025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.88, Y:9.57, Z:0.01 [[ 9.62450521e-01 -2.71457171e-01 0.00000000e+00 1.48881996e+02] [ 2.71457171e-01 9.62450521e-01 0.00000000e+00 9.57118739e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39038269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.91, Y:9.58, Z:0.01 [[ 9.62359742e-01 -2.71778822e-01 0.00000000e+00 1.48908608e+02] [ 2.71778822e-01 9.62359742e-01 0.00000000e+00 9.57864550e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18521819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.94, Y:9.58, Z:0.01 [[ 9.62357177e-01 -2.71787902e-01 0.00000000e+00 1.48936337e+02] [ 2.71787902e-01 9.62357177e-01 0.00000000e+00 9.58468035e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33514941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.96, Y:9.59, Z:0.01 [[ 9.62671466e-01 -2.70672587e-01 0.00000000e+00 1.48962246e+02] [ 2.70672587e-01 9.62671466e-01 0.00000000e+00 9.59244863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.27348394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.99, Y:9.60, Z:0.01 [[ 9.63431162e-01 -2.67955959e-01 0.00000000e+00 1.48990669e+02] [ 2.67955959e-01 9.63431162e-01 0.00000000e+00 9.59841505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20606313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.02, Y:9.60, Z:0.01 [[ 9.64439830e-01 -2.64302505e-01 0.00000000e+00 1.49017644e+02] [ 2.64302505e-01 9.64439830e-01 0.00000000e+00 9.60411642e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39217591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.04, Y:9.61, Z:0.01 [[ 9.64391024e-01 -2.64480535e-01 0.00000000e+00 1.49044806e+02] [ 2.64480535e-01 9.64391024e-01 0.00000000e+00 9.61265746e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39217591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.07, Y:9.62, Z:0.02 [[ 9.65565384e-01 -2.60160506e-01 0.00000000e+00 1.49072584e+02] [ 2.60160506e-01 9.65565384e-01 0.00000000e+00 9.62139561e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80292969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.10, Y:9.63, Z:0.02 [[ 9.66109965e-01 -2.58130850e-01 0.00000000e+00 1.49100096e+02] [ 2.58130850e-01 9.66109965e-01 0.00000000e+00 9.62829045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83300982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.13, Y:9.63, Z:0.02 [[ 9.66907941e-01 -2.55125523e-01 0.00000000e+00 1.49128173e+02] [ 2.55125523e-01 9.66907941e-01 0.00000000e+00 9.63183064e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62345922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.15, Y:9.64, Z:0.02 [[ 9.67023920e-01 -2.54685568e-01 0.00000000e+00 1.49154779e+02] [ 2.54685568e-01 9.67023920e-01 0.00000000e+00 9.63962766e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53830866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.18, Y:9.65, Z:0.01 [[ 9.67040847e-01 -2.54621288e-01 0.00000000e+00 1.49181867e+02] [ 2.54621288e-01 9.67040847e-01 0.00000000e+00 9.65026394e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13107544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.21, Y:9.66, Z:0.01 [[ 9.66910720e-01 -2.55114992e-01 0.00000000e+00 1.49207922e+02] [ 2.55114992e-01 9.66910720e-01 0.00000000e+00 9.65934466e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04568109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.24, Y:9.67, Z:0.01 [[ 9.66665046e-01 -2.56044309e-01 0.00000000e+00 1.49235671e+02] [ 2.56044309e-01 9.66665046e-01 0.00000000e+00 9.66647819e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23228860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.26, Y:9.67, Z:0.01 [[ 9.66451036e-01 -2.56850920e-01 0.00000000e+00 1.49263047e+02] [ 2.56850920e-01 9.66451036e-01 0.00000000e+00 9.67249156e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22137687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.29, Y:9.68, Z:0.01 [[ 9.65880712e-01 -2.58987355e-01 0.00000000e+00 1.49291821e+02] [ 2.58987355e-01 9.65880712e-01 0.00000000e+00 9.67819233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23068782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.32, Y:9.69, Z:0.02 [[ 9.65304458e-01 -2.61126985e-01 0.00000000e+00 1.49318662e+02] [ 2.61126985e-01 9.65304458e-01 0.00000000e+00 9.68945709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63376689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.34, Y:9.70, Z:0.01 [[ 9.65109570e-01 -2.61846362e-01 0.00000000e+00 1.49343971e+02] [ 2.61846362e-01 9.65109570e-01 0.00000000e+00 9.69856397e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38315466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.37, Y:9.70, Z:0.01 [[ 9.64528645e-01 -2.63978205e-01 0.00000000e+00 1.49371372e+02] [ 2.63978205e-01 9.64528645e-01 0.00000000e+00 9.70356496e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45804255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.40, Y:9.71, Z:0.02 [[ 9.63755038e-01 -2.66788730e-01 0.00000000e+00 1.49398583e+02] [ 2.66788730e-01 9.63755038e-01 0.00000000e+00 9.70785333e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63625387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.43, Y:9.72, Z:0.02 [[ 9.63341082e-01 -2.68279628e-01 0.00000000e+00 1.49425292e+02] [ 2.68279628e-01 9.63341082e-01 0.00000000e+00 9.71559161e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82388018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.45, Y:9.72, Z:0.02 [[ 9.62774166e-01 -2.70307059e-01 0.00000000e+00 1.49452418e+02] [ 2.70307059e-01 9.62774166e-01 0.00000000e+00 9.72482603e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68365459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.48, Y:9.73, Z:0.02 [[ 9.62637321e-01 -2.70793996e-01 0.00000000e+00 1.49479278e+02] [ 2.70793996e-01 9.62637321e-01 0.00000000e+00 9.73262902e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54474524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.51, Y:9.74, Z:0.01 [[ 9.62513917e-01 -2.71232299e-01 0.00000000e+00 1.49508246e+02] [ 2.71232299e-01 9.62513917e-01 0.00000000e+00 9.73597967e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34465603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.54, Y:9.74, Z:0.02 [[ 9.62636846e-01 -2.70795685e-01 0.00000000e+00 1.49535293e+02] [ 2.70795685e-01 9.62636846e-01 0.00000000e+00 9.74159685e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54050187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.56, Y:9.75, Z:0.02 [[ 9.62617785e-01 -2.70863433e-01 0.00000000e+00 1.49561726e+02] [ 2.70863433e-01 9.62617785e-01 0.00000000e+00 9.74964122e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59073343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.59, Y:9.75, Z:0.02 [[ 9.62473895e-01 -2.71374282e-01 0.00000000e+00 1.49589723e+02] [ 2.71374282e-01 9.62473895e-01 0.00000000e+00 9.75484289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56790081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.62, Y:9.76, Z:0.01 [[ 9.62404563e-01 -2.71620059e-01 0.00000000e+00 1.49616859e+02] [ 2.71620059e-01 9.62404563e-01 0.00000000e+00 9.76084911e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44943183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.64, Y:9.77, Z:0.02 [[ 9.62520527e-01 -2.71208842e-01 0.00000000e+00 1.49644126e+02] [ 2.71208842e-01 9.62520527e-01 0.00000000e+00 9.76906737e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88081125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.67, Y:9.78, Z:0.01 [[ 9.62914845e-01 -2.69805486e-01 0.00000000e+00 1.49670982e+02] [ 2.69805486e-01 9.62914845e-01 0.00000000e+00 9.77596510e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42316565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.70, Y:9.78, Z:0.01 [[ 9.63099884e-01 -2.69144225e-01 0.00000000e+00 1.49699054e+02] [ 2.69144225e-01 9.63099884e-01 0.00000000e+00 9.78156434e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34698419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.73, Y:9.79, Z:0.01 [[ 9.63703800e-01 -2.66973753e-01 0.00000000e+00 1.49727951e+02] [ 2.66973753e-01 9.63703800e-01 0.00000000e+00 9.78598592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49360150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.75, Y:9.79, Z:0.01 [[ 9.64087293e-01 -2.65585563e-01 0.00000000e+00 1.49753981e+02] [ 2.65585563e-01 9.64087293e-01 0.00000000e+00 9.79477845e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30198610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.78, Y:9.81, Z:0.01 [[ 9.64733534e-01 -2.63228434e-01 0.00000000e+00 1.49779628e+02] [ 2.63228434e-01 9.64733534e-01 0.00000000e+00 9.80724439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36057773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.81, Y:9.82, Z:0.02 [[ 9.64794038e-01 -2.63006586e-01 0.00000000e+00 1.49806434e+02] [ 2.63006586e-01 9.64794038e-01 0.00000000e+00 9.81650260e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67999076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.83, Y:9.82, Z:0.02 [[ 9.64436189e-01 -2.64315790e-01 0.00000000e+00 1.49834595e+02] [ 2.64315790e-01 9.64436189e-01 0.00000000e+00 9.82228768e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10694376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.86, Y:9.83, Z:0.02 [[ 9.64035146e-01 -2.65774788e-01 0.00000000e+00 1.49862170e+02] [ 2.65774788e-01 9.64035146e-01 0.00000000e+00 9.82935565e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25748495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.89, Y:9.84, Z:0.02 [[ 9.63195388e-01 -2.68802241e-01 0.00000000e+00 1.49889730e+02] [ 2.68802241e-01 9.63195388e-01 0.00000000e+00 9.83598152e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00672369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.92, Y:9.84, Z:0.02 [[ 9.62175329e-01 -2.72430976e-01 0.00000000e+00 1.49918274e+02] [ 2.72430976e-01 9.62175329e-01 0.00000000e+00 9.84282135e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14246593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.94, Y:9.85, Z:0.02 [[ 9.61656716e-01 -2.74256014e-01 0.00000000e+00 1.49944413e+02] [ 2.74256014e-01 9.61656716e-01 0.00000000e+00 9.85106334e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99976802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.97, Y:9.86, Z:0.02 [[ 9.60795973e-01 -2.77256377e-01 0.00000000e+00 1.49972527e+02] [ 2.77256377e-01 9.60795973e-01 0.00000000e+00 9.85915887e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86864008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.00, Y:9.87, Z:0.02 [[ 9.60449868e-01 -2.78452960e-01 0.00000000e+00 1.50000876e+02] [ 2.78452960e-01 9.60449868e-01 0.00000000e+00 9.86661213e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76629073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.03, Y:9.87, Z:0.02 [[ 9.60271386e-01 -2.79067852e-01 0.00000000e+00 1.50028867e+02] [ 2.79067852e-01 9.60271386e-01 0.00000000e+00 9.87342795e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76409329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.06, Y:9.88, Z:0.01 [[ 9.60751372e-01 -2.77410890e-01 0.00000000e+00 1.50055523e+02] [ 2.77410890e-01 9.60751372e-01 0.00000000e+00 9.88010137e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41693377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.08, Y:9.89, Z:0.02 [[ 9.61026716e-01 -2.76455514e-01 0.00000000e+00 1.50083029e+02] [ 2.76455514e-01 9.61026716e-01 0.00000000e+00 9.88754918e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53787376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.11, Y:9.90, Z:0.02 [[ 9.61689968e-01 -2.74139390e-01 0.00000000e+00 1.50110877e+02] [ 2.74139390e-01 9.61689968e-01 0.00000000e+00 9.89561572e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01646049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.14, Y:9.91, Z:0.02 [[ 9.62117882e-01 -2.72633786e-01 0.00000000e+00 1.50137280e+02] [ 2.72633786e-01 9.62117882e-01 0.00000000e+00 9.90516937e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05292193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.16, Y:9.92, Z:0.02 [[ 9.62892955e-01 -2.69883600e-01 0.00000000e+00 1.50163878e+02] [ 2.69883600e-01 9.62892955e-01 0.00000000e+00 9.91590659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31183122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.19, Y:9.92, Z:0.02 [[ 9.63080118e-01 -2.69214946e-01 0.00000000e+00 1.50189915e+02] [ 2.69214946e-01 9.63080118e-01 0.00000000e+00 9.92378795e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22233442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.22, Y:9.93, Z:0.02 [[ 9.62746046e-01 -2.70407195e-01 0.00000000e+00 1.50217164e+02] [ 2.70407195e-01 9.62746046e-01 0.00000000e+00 9.93021257e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34321675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.24, Y:9.94, Z:0.02 [[ 9.62421733e-01 -2.71559217e-01 0.00000000e+00 1.50244474e+02] [ 2.71559217e-01 9.62421733e-01 0.00000000e+00 9.93751955e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23954986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.27, Y:9.95, Z:0.02 [[ 9.61584367e-01 -2.74509572e-01 0.00000000e+00 1.50271100e+02] [ 2.74509572e-01 9.61584367e-01 0.00000000e+00 9.94683133e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25493603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.30, Y:9.96, Z:0.02 [[ 9.60774220e-01 -2.77331746e-01 0.00000000e+00 1.50297837e+02] [ 2.77331746e-01 9.60774220e-01 0.00000000e+00 9.95667046e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30388369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.33, Y:9.96, Z:0.02 [[ 9.60490739e-01 -2.78311947e-01 0.00000000e+00 1.50325132e+02] [ 2.78311947e-01 9.60490739e-01 0.00000000e+00 9.96359594e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98130702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.35, Y:9.97, Z:0.02 [[ 9.60369094e-01 -2.78731418e-01 0.00000000e+00 1.50354244e+02] [ 2.78731418e-01 9.60369094e-01 0.00000000e+00 9.96589300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82605245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.38, Y:9.97, Z:0.02 [[ 9.60356629e-01 -2.78774364e-01 0.00000000e+00 1.50381582e+02] [ 2.78774364e-01 9.60356629e-01 0.00000000e+00 9.97300931e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96483857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.41, Y:9.98, Z:0.02 [[ 9.60750639e-01 -2.77413426e-01 0.00000000e+00 1.50407410e+02] [ 2.77413426e-01 9.60750639e-01 0.00000000e+00 9.98216889e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15243007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.43, Y:9.99, Z:0.02 [[ 9.61213586e-01 -2.75805081e-01 0.00000000e+00 1.50433811e+02] [ 2.75805081e-01 9.61213586e-01 0.00000000e+00 9.99421176e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95594377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.46, Y:10.00, Z:0.02 [[ 9.61364909e-01 -2.75277153e-01 0.00000000e+00 1.50460324e+02] [ 2.75277153e-01 9.61364909e-01 0.00000000e+00 1.00031705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12688431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.49, Y:10.01, Z:0.02 [[ 9.61490826e-01 -2.74837026e-01 0.00000000e+00 1.50488799e+02] [ 2.74837026e-01 9.61490826e-01 0.00000000e+00 1.00080737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39432038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.52, Y:10.01, Z:0.02 [[ 9.61420166e-01 -2.75084105e-01 0.00000000e+00 1.50515843e+02] [ 2.75084105e-01 9.61420166e-01 0.00000000e+00 1.00144757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29990617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.54, Y:10.02, Z:0.02 [[ 9.61115759e-01 -2.76145792e-01 0.00000000e+00 1.50542648e+02] [ 2.76145792e-01 9.61115759e-01 0.00000000e+00 1.00214852e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43917225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.57, Y:10.03, Z:0.03 [[ 9.60755817e-01 -2.77395495e-01 0.00000000e+00 1.50570364e+02] [ 2.77395495e-01 9.60755817e-01 0.00000000e+00 1.00299546e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83934142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.60, Y:10.04, Z:0.03 [[ 9.60655580e-01 -2.77742430e-01 0.00000000e+00 1.50595790e+02] [ 2.77742430e-01 9.60655580e-01 0.00000000e+00 1.00383930e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73752498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.62, Y:10.05, Z:0.02 [[ 9.60546263e-01 -2.78120256e-01 0.00000000e+00 1.50622939e+02] [ 2.78120256e-01 9.60546263e-01 0.00000000e+00 1.00455119e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05032924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.65, Y:10.05, Z:0.02 [[ 9.60501515e-01 -2.78274757e-01 0.00000000e+00 1.50650053e+02] [ 2.78274757e-01 9.60501515e-01 0.00000000e+00 1.00524289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25859878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.68, Y:10.06, Z:0.02 [[ 9.60794852e-01 -2.77260262e-01 0.00000000e+00 1.50676592e+02] [ 2.77260262e-01 9.60794852e-01 0.00000000e+00 1.00606314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25284019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.70, Y:10.07, Z:0.02 [[ 9.61159311e-01 -2.75994164e-01 0.00000000e+00 1.50701603e+02] [ 2.75994164e-01 9.61159311e-01 0.00000000e+00 1.00695179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16930578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.73, Y:10.08, Z:0.02 [[ 9.61275491e-01 -2.75589241e-01 0.00000000e+00 1.50728515e+02] [ 2.75589241e-01 9.61275491e-01 0.00000000e+00 1.00779049e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23584461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.75, Y:10.09, Z:0.02 [[ 9.61431947e-01 -2.75042928e-01 0.00000000e+00 1.50753979e+02] [ 2.75042928e-01 9.61431947e-01 0.00000000e+00 1.00884199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94338481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.78, Y:10.10, Z:0.02 [[ 9.61380961e-01 -2.75221088e-01 0.00000000e+00 1.50781079e+02] [ 2.75221088e-01 9.61380961e-01 0.00000000e+00 1.00971948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94338481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.81, Y:10.11, Z:0.02 [[ 9.61268348e-01 -2.75614155e-01 0.00000000e+00 1.50807723e+02] [ 2.75614155e-01 9.61268348e-01 0.00000000e+00 1.01068476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08767935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.84, Y:10.11, Z:0.02 [[ 9.60796840e-01 -2.77253372e-01 0.00000000e+00 1.50836259e+02] [ 2.77253372e-01 9.60796840e-01 0.00000000e+00 1.01129605e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32925881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.86, Y:10.12, Z:0.02 [[ 9.60214744e-01 -2.79262681e-01 0.00000000e+00 1.50864202e+02] [ 2.79262681e-01 9.60214744e-01 0.00000000e+00 1.01171143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94007278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.89, Y:10.13, Z:0.02 [[ 9.59910734e-01 -2.80305875e-01 0.00000000e+00 1.50891972e+02] [ 2.80305875e-01 9.59910734e-01 0.00000000e+00 1.01252080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81036158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.92, Y:10.13, Z:0.02 [[ 9.59314307e-01 -2.82340328e-01 0.00000000e+00 1.50919400e+02] [ 2.82340328e-01 9.59314307e-01 0.00000000e+00 1.01328881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91395005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.95, Y:10.14, Z:0.02 [[ 9.59056767e-01 -2.83213907e-01 0.00000000e+00 1.50945430e+02] [ 2.83213907e-01 9.59056767e-01 0.00000000e+00 1.01413608e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05399401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.97, Y:10.15, Z:0.02 [[ 9.59009222e-01 -2.83374861e-01 0.00000000e+00 1.50971783e+02] [ 2.83374861e-01 9.59009222e-01 0.00000000e+00 1.01503383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01725890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.00, Y:10.16, Z:0.02 [[ 9.59039961e-01 -2.83270814e-01 0.00000000e+00 1.50999815e+02] [ 2.83270814e-01 9.59039961e-01 0.00000000e+00 1.01564740e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81985337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.03, Y:10.16, Z:0.02 [[ 9.59370677e-01 -2.82148727e-01 0.00000000e+00 1.51028693e+02] [ 2.82148727e-01 9.59370677e-01 0.00000000e+00 1.01576872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86919471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.06, Y:10.17, Z:0.02 [[ 9.59871609e-01 -2.80439823e-01 0.00000000e+00 1.51056318e+02] [ 2.80439823e-01 9.59871609e-01 0.00000000e+00 1.01654927e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11671739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.08, Y:10.18, Z:0.02 [[ 9.60115962e-01 -2.79602111e-01 0.00000000e+00 1.51082959e+02] [ 2.79602111e-01 9.60115962e-01 0.00000000e+00 1.01750320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17778059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.11, Y:10.18, Z:0.02 [[ 9.60478886e-01 -2.78352852e-01 0.00000000e+00 1.51109623e+02] [ 2.78352852e-01 9.60478886e-01 0.00000000e+00 1.01830165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95597282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.14, Y:10.19, Z:0.02 [[ 9.60490672e-01 -2.78312178e-01 0.00000000e+00 1.51137453e+02] [ 2.78312178e-01 9.60490672e-01 0.00000000e+00 1.01911072e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28477077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.16, Y:10.20, Z:0.02 [[ 9.60459989e-01 -2.78418048e-01 0.00000000e+00 1.51164359e+02] [ 2.78418048e-01 9.60459989e-01 0.00000000e+00 1.01992165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34295154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.19, Y:10.20, Z:0.02 [[ 9.60184116e-01 -2.79367970e-01 0.00000000e+00 1.51192884e+02] [ 2.79367970e-01 9.60184116e-01 0.00000000e+00 1.02029234e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21476087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.22, Y:10.21, Z:0.02 [[ 9.60072711e-01 -2.79750583e-01 0.00000000e+00 1.51220351e+02] [ 2.79750583e-01 9.60072711e-01 0.00000000e+00 1.02076142e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10766050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.25, Y:10.21, Z:0.02 [[ 9.60135442e-01 -2.79535207e-01 0.00000000e+00 1.51247626e+02] [ 2.79535207e-01 9.60135442e-01 0.00000000e+00 1.02139538e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30531041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.27, Y:10.22, Z:0.02 [[ 9.60102447e-01 -2.79648514e-01 0.00000000e+00 1.51274289e+02] [ 2.79648514e-01 9.60102447e-01 0.00000000e+00 1.02234860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38405958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.30, Y:10.23, Z:0.02 [[ 9.60267482e-01 -2.79081283e-01 0.00000000e+00 1.51302228e+02] [ 2.79081283e-01 9.60267482e-01 0.00000000e+00 1.02320846e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09486732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.33, Y:10.24, Z:0.02 [[ 9.60449269e-01 -2.78455027e-01 0.00000000e+00 1.51329492e+02] [ 2.78455027e-01 9.60449269e-01 0.00000000e+00 1.02402342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26485178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.36, Y:10.25, Z:0.02 [[ 9.60515254e-01 -2.78227328e-01 0.00000000e+00 1.51355920e+02] [ 2.78227328e-01 9.60515254e-01 0.00000000e+00 1.02467896e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03746081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.39, Y:10.25, Z:0.02 [[ 9.60598035e-01 -2.77941387e-01 0.00000000e+00 1.51385771e+02] [ 2.77941387e-01 9.60598035e-01 0.00000000e+00 1.02483175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66636045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.41, Y:10.25, Z:0.02 [[ 9.60642652e-01 -2.77787139e-01 0.00000000e+00 1.51414061e+02] [ 2.77787139e-01 9.60642652e-01 0.00000000e+00 1.02537876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55236979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.44, Y:10.26, Z:0.01 [[ 9.61076570e-01 -2.76282149e-01 0.00000000e+00 1.51442367e+02] [ 2.76282149e-01 9.61076570e-01 0.00000000e+00 1.02583217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40697497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.47, Y:10.27, Z:0.01 [[ 9.61243134e-01 -2.75702082e-01 0.00000000e+00 1.51469407e+02] [ 2.75702082e-01 9.61243134e-01 0.00000000e+00 1.02667358e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46394088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.49, Y:10.28, Z:0.01 [[ 9.61663027e-01 -2.74233882e-01 0.00000000e+00 1.51494874e+02] [ 2.74233882e-01 9.61663027e-01 0.00000000e+00 1.02772543e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40275849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.52, Y:10.29, Z:0.02 [[ 9.61841520e-01 -2.73607184e-01 0.00000000e+00 1.51521136e+02] [ 2.73607184e-01 9.61841520e-01 0.00000000e+00 1.02857174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61080375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.55, Y:10.29, Z:0.02 [[ 9.62468478e-01 -2.71393494e-01 0.00000000e+00 1.51549106e+02] [ 2.71393494e-01 9.62468478e-01 0.00000000e+00 1.02908925e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84280326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.58, Y:10.30, Z:0.02 [[ 9.62836630e-01 -2.70084475e-01 0.00000000e+00 1.51576247e+02] [ 2.70084475e-01 9.62836630e-01 0.00000000e+00 1.02968780e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16377128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.60, Y:10.30, Z:0.02 [[ 9.62802035e-01 -2.70207776e-01 0.00000000e+00 1.51603426e+02] [ 2.70207776e-01 9.62802035e-01 0.00000000e+00 1.03045038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09006304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.63, Y:10.31, Z:0.02 [[ 9.62467797e-01 -2.71395908e-01 0.00000000e+00 1.51631588e+02] [ 2.71395908e-01 9.62467797e-01 0.00000000e+00 1.03122656e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74151158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.66, Y:10.32, Z:0.02 [[ 9.61985250e-01 -2.73101408e-01 0.00000000e+00 1.51659097e+02] [ 2.73101408e-01 9.61985250e-01 0.00000000e+00 1.03196573e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88540281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.69, Y:10.33, Z:0.02 [[ 9.61703730e-01 -2.74091107e-01 0.00000000e+00 1.51686155e+02] [ 2.74091107e-01 9.61703730e-01 0.00000000e+00 1.03260705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94964238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.71, Y:10.33, Z:0.02 [[ 9.61272811e-01 -2.75598590e-01 0.00000000e+00 1.51713986e+02] [ 2.75598590e-01 9.61272811e-01 0.00000000e+00 1.03297450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81709519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.74, Y:10.34, Z:0.02 [[ 9.61014669e-01 -2.76497388e-01 0.00000000e+00 1.51740200e+02] [ 2.76497388e-01 9.61014669e-01 0.00000000e+00 1.03373170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77568439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:10.34, Z:0.02 [[ 9.60553073e-01 -2.78096735e-01 0.00000000e+00 1.51768030e+02] [ 2.78096735e-01 9.60553073e-01 0.00000000e+00 1.03447228e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86544362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.79, Y:10.35, Z:0.02 [[ 9.60555766e-01 -2.78087433e-01 0.00000000e+00 1.51794410e+02] [ 2.78087433e-01 9.60555766e-01 0.00000000e+00 1.03535855e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89774392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.82, Y:10.36, Z:0.02 [[ 9.60545851e-01 -2.78121679e-01 0.00000000e+00 1.51820740e+02] [ 2.78121679e-01 9.60545851e-01 0.00000000e+00 1.03617220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95916333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.85, Y:10.36, Z:0.02 [[ 9.60639477e-01 -2.77798119e-01 0.00000000e+00 1.51848561e+02] [ 2.77798119e-01 9.60639477e-01 0.00000000e+00 1.03648184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51318204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.88, Y:10.37, Z:0.02 [[ 9.60819279e-01 -2.77175600e-01 0.00000000e+00 1.51875957e+02] [ 2.77175600e-01 9.60819279e-01 0.00000000e+00 1.03714011e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55947465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.90, Y:10.38, Z:0.02 [[ 9.61430416e-01 -2.75048279e-01 0.00000000e+00 1.51902792e+02] [ 2.75048279e-01 9.61430416e-01 0.00000000e+00 1.03794386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98753307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.93, Y:10.39, Z:0.02 [[ 9.62055940e-01 -2.72852284e-01 0.00000000e+00 1.51929886e+02] [ 2.72852284e-01 9.62055940e-01 0.00000000e+00 1.03876695e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97532584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.96, Y:10.40, Z:0.02 [[ 9.62288533e-01 -2.72030843e-01 0.00000000e+00 1.51956162e+02] [ 2.72030843e-01 9.62288533e-01 0.00000000e+00 1.03973246e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98809528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.98, Y:10.41, Z:0.02 [[ 9.62813515e-01 -2.70166865e-01 0.00000000e+00 1.51981625e+02] [ 2.70166865e-01 9.62813515e-01 0.00000000e+00 1.04075644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56165828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.01, Y:10.42, Z:0.02 [[ 9.63023797e-01 -2.69416344e-01 0.00000000e+00 1.52007926e+02] [ 2.69416344e-01 9.63023797e-01 0.00000000e+00 1.04156038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55834671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.04, Y:10.42, Z:0.02 [[ 9.63033261e-01 -2.69382513e-01 0.00000000e+00 1.52035455e+02] [ 2.69382513e-01 9.63033261e-01 0.00000000e+00 1.04211826e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53576005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.06, Y:10.43, Z:0.02 [[ 9.62716585e-01 -2.70512064e-01 0.00000000e+00 1.52063579e+02] [ 2.70512064e-01 9.62716585e-01 0.00000000e+00 1.04293433e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58980482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.09, Y:10.44, Z:0.01 [[ 9.61869769e-01 -2.73507858e-01 0.00000000e+00 1.52089054e+02] [ 2.73507858e-01 9.61869769e-01 0.00000000e+00 1.04421725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09188083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:10.45, Z:0.01 [[ 9.61526049e-01 -2.74713773e-01 0.00000000e+00 1.52115459e+02] [ 2.74713773e-01 9.61526049e-01 0.00000000e+00 1.04529457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20525952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.14, Y:10.46, Z:0.01 [[ 9.60942061e-01 -2.76749627e-01 0.00000000e+00 1.52142315e+02] [ 2.76749627e-01 9.60942061e-01 0.00000000e+00 1.04592046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.79913883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.17, Y:10.46, Z:0.01 [[ 9.60563498e-01 -2.78060724e-01 0.00000000e+00 1.52171193e+02] [ 2.78060724e-01 9.60563498e-01 0.00000000e+00 1.04649512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.90110775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.20, Y:10.47, Z:0.01 [[ 9.59711698e-01 -2.80986577e-01 0.00000000e+00 1.52198906e+02] [ 2.80986577e-01 9.59711698e-01 0.00000000e+00 1.04692347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24091008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.23, Y:10.48, Z:0.01 [[ 9.59316848e-01 -2.82331694e-01 0.00000000e+00 1.52226458e+02] [ 2.82331694e-01 9.59316848e-01 0.00000000e+00 1.04790611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34963452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.25, Y:10.49, Z:0.01 [[ 9.58873167e-01 -2.83834898e-01 0.00000000e+00 1.52252006e+02] [ 2.83834898e-01 9.58873167e-01 0.00000000e+00 1.04914613e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40197629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:10.50, Z:0.02 [[ 9.58692326e-01 -2.84445117e-01 0.00000000e+00 1.52278767e+02] [ 2.84445117e-01 9.58692326e-01 0.00000000e+00 1.04997829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53726125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.31, Y:10.50, Z:0.02 [[ 9.58686823e-01 -2.84463664e-01 0.00000000e+00 1.52307628e+02] [ 2.84463664e-01 9.58686823e-01 0.00000000e+00 1.05046679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76331454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.33, Y:10.51, Z:0.02 [[ 9.59172290e-01 -2.82822414e-01 0.00000000e+00 1.52334708e+02] [ 2.82822414e-01 9.59172290e-01 0.00000000e+00 1.05108260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96880412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.36, Y:10.52, Z:0.02 [[ 9.59432606e-01 -2.81938070e-01 0.00000000e+00 1.52360610e+02] [ 2.81938070e-01 9.59432606e-01 0.00000000e+00 1.05202405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98717134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.39, Y:10.53, Z:0.02 [[ 9.59773265e-01 -2.80776211e-01 0.00000000e+00 1.52386519e+02] [ 2.80776211e-01 9.59773265e-01 0.00000000e+00 1.05279039e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75964001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.41, Y:10.54, Z:0.02 [[ 9.59697567e-01 -2.81034836e-01 0.00000000e+00 1.52413631e+02] [ 2.81034836e-01 9.59697567e-01 0.00000000e+00 1.05353248e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83935582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.44, Y:10.55, Z:0.02 [[ 9.59570402e-01 -2.81468725e-01 0.00000000e+00 1.52439878e+02] [ 2.81468725e-01 9.59570402e-01 0.00000000e+00 1.05454082e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89159351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.47, Y:10.55, Z:0.02 [[ 9.59233568e-01 -2.82614511e-01 0.00000000e+00 1.52465203e+02] [ 2.82614511e-01 9.59233568e-01 0.00000000e+00 1.05549259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80307961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.49, Y:10.56, Z:0.02 [[ 9.59181011e-01 -2.82792837e-01 0.00000000e+00 1.52492244e+02] [ 2.82792837e-01 9.59181011e-01 0.00000000e+00 1.05639327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80307961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.52, Y:10.57, Z:0.02 [[ 9.58679788e-01 -2.84487371e-01 0.00000000e+00 1.52519576e+02] [ 2.84487371e-01 9.58679788e-01 0.00000000e+00 1.05698029e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80744360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.55, Y:10.58, Z:0.02 [[ 9.58446560e-01 -2.85272135e-01 0.00000000e+00 1.52546550e+02] [ 2.85272135e-01 9.58446560e-01 0.00000000e+00 1.05774743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95700929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.57, Y:10.59, Z:0.02 [[ 9.58240776e-01 -2.85962613e-01 0.00000000e+00 1.52573740e+02] [ 2.85962613e-01 9.58240776e-01 0.00000000e+00 1.05870928e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06306167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.60, Y:10.60, Z:0.02 [[ 9.58135823e-01 -2.86314066e-01 0.00000000e+00 1.52599949e+02] [ 2.86314066e-01 9.58135823e-01 0.00000000e+00 1.05959516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92161272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.63, Y:10.60, Z:0.02 [[ 9.58082759e-01 -2.86491584e-01 0.00000000e+00 1.52627997e+02] [ 2.86491584e-01 9.58082759e-01 0.00000000e+00 1.06044247e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94411894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.65, Y:10.61, Z:0.02 [[ 9.58238717e-01 -2.85969512e-01 0.00000000e+00 1.52653265e+02] [ 2.85969512e-01 9.58238717e-01 0.00000000e+00 1.06129122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76410438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.68, Y:10.62, Z:0.02 [[ 9.58403224e-01 -2.85417695e-01 0.00000000e+00 1.52681775e+02] [ 2.85417695e-01 9.58403224e-01 0.00000000e+00 1.06192189e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65378419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.71, Y:10.63, Z:0.02 [[ 9.58385487e-01 -2.85477248e-01 0.00000000e+00 1.52708462e+02] [ 2.85477248e-01 9.58385487e-01 0.00000000e+00 1.06279929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60230329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.74, Y:10.64, Z:0.02 [[ 9.58894904e-01 -2.83761453e-01 0.00000000e+00 1.52735285e+02] [ 2.83761453e-01 9.58894904e-01 0.00000000e+00 1.06387711e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73662068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.76, Y:10.65, Z:0.02 [[ 9.59227234e-01 -2.82636008e-01 0.00000000e+00 1.52762745e+02] [ 2.82636008e-01 9.59227234e-01 0.00000000e+00 1.06471446e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95056685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.79, Y:10.65, Z:0.02 [[ 9.60008227e-01 -2.79971791e-01 0.00000000e+00 1.52789870e+02] [ 2.79971791e-01 9.60008227e-01 0.00000000e+00 1.06540412e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73163952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.82, Y:10.66, Z:0.02 [[ 9.60406222e-01 -2.78603460e-01 0.00000000e+00 1.52816839e+02] [ 2.78603460e-01 9.60406222e-01 0.00000000e+00 1.06640314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60788801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.84, Y:10.68, Z:0.02 [[ 9.61204290e-01 -2.75837476e-01 0.00000000e+00 1.52842305e+02] [ 2.75837476e-01 9.61204290e-01 0.00000000e+00 1.06771048e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53660135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.87, Y:10.69, Z:0.02 [[ 9.61440254e-01 -2.75013885e-01 0.00000000e+00 1.52868416e+02] [ 2.75013885e-01 9.61440254e-01 0.00000000e+00 1.06881382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58510272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.89, Y:10.70, Z:0.02 [[ 9.61935057e-01 -2.73278148e-01 0.00000000e+00 1.52894647e+02] [ 2.73278148e-01 9.61935057e-01 0.00000000e+00 1.06969507e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58557032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.92, Y:10.71, Z:0.02 [[ 9.61846603e-01 -2.73589313e-01 0.00000000e+00 1.52922574e+02] [ 2.73589313e-01 9.61846603e-01 0.00000000e+00 1.07056439e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62317717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.95, Y:10.72, Z:0.02 [[ 9.61649699e-01 -2.74280617e-01 0.00000000e+00 1.52949392e+02] [ 2.74280617e-01 9.61649699e-01 0.00000000e+00 1.07160360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64343601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.97, Y:10.73, Z:0.01 [[ 9.61132685e-01 -2.76086875e-01 0.00000000e+00 1.52974554e+02] [ 2.76086875e-01 9.61132685e-01 0.00000000e+00 1.07282147e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12643601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.00, Y:10.74, Z:0.01 [[ 9.60916805e-01 -2.76837307e-01 0.00000000e+00 1.53001451e+02] [ 2.76837307e-01 9.60916805e-01 0.00000000e+00 1.07383682e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31290122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:10.75, Z:0.02 [[ 9.60541983e-01 -2.78135038e-01 0.00000000e+00 1.53027260e+02] [ 2.78135038e-01 9.60541983e-01 0.00000000e+00 1.07511362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94422752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.05, Y:10.76, Z:0.02 [[ 9.60211205e-01 -2.79274851e-01 0.00000000e+00 1.53053867e+02] [ 2.79274851e-01 9.60211205e-01 0.00000000e+00 1.07608140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75876009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:10.77, Z:0.02 [[ 9.59631881e-01 -2.81259049e-01 0.00000000e+00 1.53080966e+02] [ 2.81259049e-01 9.59631881e-01 0.00000000e+00 1.07703119e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80583201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.11, Y:10.78, Z:0.02 [[ 9.59373104e-01 -2.82140474e-01 0.00000000e+00 1.53106770e+02] [ 2.82140474e-01 9.59373104e-01 0.00000000e+00 1.07825021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98514063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.13, Y:10.79, Z:0.02 [[ 9.59012672e-01 -2.83363187e-01 0.00000000e+00 1.53132762e+02] [ 2.83363187e-01 9.59012672e-01 0.00000000e+00 1.07931945e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04424893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:10.81, Z:0.02 [[ 9.58475441e-01 -2.85175084e-01 0.00000000e+00 1.53156934e+02] [ 2.85175084e-01 9.58475441e-01 0.00000000e+00 1.08064598e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92556653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.18, Y:10.82, Z:0.02 [[ 9.58037885e-01 -2.86641606e-01 0.00000000e+00 1.53182599e+02] [ 2.86641606e-01 9.58037885e-01 0.00000000e+00 1.08200060e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76883544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.21, Y:10.83, Z:0.02 [[ 9.57771965e-01 -2.87528892e-01 0.00000000e+00 1.53208808e+02] [ 2.87528892e-01 9.57771965e-01 0.00000000e+00 1.08303846e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81780609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.985336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.23, Y:10.84, Z:0.02 [[ 9.57322278e-01 -2.89022587e-01 0.00000000e+00 1.53234487e+02] [ 2.89022587e-01 9.57322278e-01 0.00000000e+00 1.08398410e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06384084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.26, Y:10.85, Z:0.02 [[ 9.57089333e-01 -2.89793043e-01 0.00000000e+00 1.53259941e+02] [ 2.89793043e-01 9.57089333e-01 0.00000000e+00 1.08489222e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93105410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.29, Y:10.86, Z:0.02 [[ 9.56576521e-01 -2.91481319e-01 0.00000000e+00 1.53285915e+02] [ 2.91481319e-01 9.56576521e-01 0.00000000e+00 1.08622702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65073115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.31, Y:10.87, Z:0.02 [[ 9.56016263e-01 -2.93313664e-01 0.00000000e+00 1.53311578e+02] [ 2.93313664e-01 9.56016263e-01 0.00000000e+00 1.08726143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89858791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:10.88, Z:0.02 [[ 9.55672119e-01 -2.94433016e-01 0.00000000e+00 1.53338610e+02] [ 2.94433016e-01 9.55672119e-01 0.00000000e+00 1.08811403e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05394669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:10.89, Z:0.02 [[ 9.55126959e-01 -2.96196711e-01 0.00000000e+00 1.53365729e+02] [ 2.96196711e-01 9.55126959e-01 0.00000000e+00 1.08883419e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88208893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:10.90, Z:0.02 [[ 9.54745741e-01 -2.97423218e-01 0.00000000e+00 1.53392906e+02] [ 2.97423218e-01 9.54745741e-01 0.00000000e+00 1.08953391e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79291586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.42, Y:10.90, Z:0.02 [[ 9.54081181e-01 -2.99548161e-01 0.00000000e+00 1.53420402e+02] [ 2.99548161e-01 9.54081181e-01 0.00000000e+00 1.09003399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67558273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.45, Y:10.91, Z:0.02 [[ 9.53904781e-01 -3.00109428e-01 0.00000000e+00 1.53447125e+02] [ 3.00109428e-01 9.53904781e-01 0.00000000e+00 1.09091117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87932420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:10.91, Z:0.02 [[ 9.54083455e-01 -2.99540916e-01 0.00000000e+00 1.53474954e+02] [ 2.99540916e-01 9.54083455e-01 0.00000000e+00 1.09148439e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89933530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:10.92, Z:0.02 [[ 9.54309911e-01 -2.98818664e-01 0.00000000e+00 1.53502506e+02] [ 2.98818664e-01 9.54309911e-01 0.00000000e+00 1.09209757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97132919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.53, Y:10.93, Z:0.02 [[ 9.55101628e-01 -2.96278384e-01 0.00000000e+00 1.53530127e+02] [ 2.96278384e-01 9.55101628e-01 0.00000000e+00 1.09272660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96440725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:10.93, Z:0.02 [[ 9.55510120e-01 -2.94958321e-01 0.00000000e+00 1.53557990e+02] [ 2.94958321e-01 9.55510120e-01 0.00000000e+00 1.09348545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79979924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.59, Y:10.94, Z:0.02 [[ 9.56369121e-01 -2.92161092e-01 0.00000000e+00 1.53585789e+02] [ 2.92161092e-01 9.56369121e-01 0.00000000e+00 1.09386127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72356979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40533619500002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.61, Y:10.95, Z:0.02 [[ 9.56706611e-01 -2.91054051e-01 0.00000000e+00 1.53613510e+02] [ 2.91054051e-01 9.56706611e-01 0.00000000e+00 1.09472716e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13104374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.64, Y:10.96, Z:0.03 [[ 9.57188151e-01 -2.89466481e-01 0.00000000e+00 1.53640920e+02] [ 2.89466481e-01 9.57188151e-01 0.00000000e+00 1.09554171e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59141114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.67, Y:10.96, Z:0.02 [[ 9.57537179e-01 -2.88309816e-01 0.00000000e+00 1.53668511e+02] [ 2.88309816e-01 9.57537179e-01 0.00000000e+00 1.09600008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42279926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.70, Y:10.97, Z:0.02 [[ 9.58241176e-01 -2.85961273e-01 0.00000000e+00 1.53696642e+02] [ 2.85961273e-01 9.58241176e-01 0.00000000e+00 1.09650759e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37997103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.72, Y:10.97, Z:0.02 [[ 9.58749617e-01 -2.84251952e-01 0.00000000e+00 1.53723667e+02] [ 2.84251952e-01 9.58749617e-01 0.00000000e+00 1.09709343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13664844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.75, Y:10.98, Z:0.02 [[ 9.59330918e-01 -2.82283881e-01 0.00000000e+00 1.53750647e+02] [ 2.82283881e-01 9.59330918e-01 0.00000000e+00 1.09773858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03909420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.78, Y:10.99, Z:0.02 [[ 9.60528128e-01 -2.78182880e-01 0.00000000e+00 1.53777584e+02] [ 2.78182880e-01 9.60528128e-01 0.00000000e+00 1.09873912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29793079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.80, Y:11.00, Z:0.02 [[ 9.61330401e-01 -2.75397641e-01 0.00000000e+00 1.53802837e+02] [ 2.75397641e-01 9.61330401e-01 0.00000000e+00 1.09981937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32150674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.83, Y:11.00, Z:0.02 [[ 9.61540055e-01 -2.74664745e-01 0.00000000e+00 1.53832015e+02] [ 2.74664745e-01 9.61540055e-01 0.00000000e+00 1.10036141e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06475705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.86, Y:11.01, Z:0.02 [[ 9.61454372e-01 -2.74964525e-01 0.00000000e+00 1.53858078e+02] [ 2.74964525e-01 9.61454372e-01 0.00000000e+00 1.10103440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95792650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.89, Y:11.02, Z:0.02 [[ 9.60929817e-01 -2.76792138e-01 0.00000000e+00 1.53885615e+02] [ 2.76792138e-01 9.60929817e-01 0.00000000e+00 1.10177684e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09418563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.91, Y:11.03, Z:0.02 [[ 9.60411871e-01 -2.78583989e-01 0.00000000e+00 1.53911123e+02] [ 2.78583989e-01 9.60411871e-01 0.00000000e+00 1.10258811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03958414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.94, Y:11.03, Z:0.02 [[ 9.59322209e-01 -2.82313478e-01 0.00000000e+00 1.53939014e+02] [ 2.82313478e-01 9.59322209e-01 0.00000000e+00 1.10336864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00195802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.97, Y:11.04, Z:0.02 [[ 9.58420562e-01 -2.85359468e-01 0.00000000e+00 1.53966294e+02] [ 2.85359468e-01 9.58420562e-01 0.00000000e+00 1.10385565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96744916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.99, Y:11.05, Z:0.02 [[ 9.58024404e-01 -2.86686660e-01 0.00000000e+00 1.53994398e+02] [ 2.86686660e-01 9.58024404e-01 0.00000000e+00 1.10454032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00660129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.02, Y:11.05, Z:0.02 [[ 9.57326601e-01 -2.89008268e-01 0.00000000e+00 1.54022686e+02] [ 2.89008268e-01 9.57326601e-01 0.00000000e+00 1.10514617e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20615827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.05, Y:11.06, Z:0.03 [[ 9.57094702e-01 -2.89775313e-01 0.00000000e+00 1.54049927e+02] [ 2.89775313e-01 9.57094702e-01 0.00000000e+00 1.10603794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55427736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.08, Y:11.07, Z:0.03 [[ 9.56670462e-01 -2.91172848e-01 0.00000000e+00 1.54076822e+02] [ 2.91172848e-01 9.56670462e-01 0.00000000e+00 1.10676115e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56210646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.11, Y:11.07, Z:0.03 [[ 9.56257730e-01 -2.92525474e-01 0.00000000e+00 1.54105486e+02] [ 2.92525474e-01 9.56257730e-01 0.00000000e+00 1.10714767e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72480474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.13, Y:11.08, Z:0.03 [[ 9.56324071e-01 -2.92308522e-01 0.00000000e+00 1.54133445e+02] [ 2.92308522e-01 9.56324071e-01 0.00000000e+00 1.10769659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70256606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.16, Y:11.08, Z:0.02 [[ 9.56540944e-01 -2.91598049e-01 0.00000000e+00 1.54160838e+02] [ 2.91598049e-01 9.56540944e-01 0.00000000e+00 1.10835564e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21026790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.19, Y:11.09, Z:0.02 [[ 9.57001257e-01 -2.90083770e-01 0.00000000e+00 1.54188987e+02] [ 2.90083770e-01 9.57001257e-01 0.00000000e+00 1.10875338e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88038917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.22, Y:11.10, Z:0.02 [[ 9.56948938e-01 -2.90256319e-01 0.00000000e+00 1.54215957e+02] [ 2.90256319e-01 9.56948938e-01 0.00000000e+00 1.10967729e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88038917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.24, Y:11.11, Z:0.02 [[ 9.57335829e-01 -2.88977698e-01 0.00000000e+00 1.54243484e+02] [ 2.88977698e-01 9.57335829e-01 0.00000000e+00 1.11060489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11988808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.27, Y:11.12, Z:0.02 [[ 9.57469862e-01 -2.88533296e-01 0.00000000e+00 1.54270412e+02] [ 2.88533296e-01 9.57469862e-01 0.00000000e+00 1.11155393e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22089200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.30, Y:11.12, Z:0.02 [[ 9.57654162e-01 -2.87921006e-01 0.00000000e+00 1.54296843e+02] [ 2.87921006e-01 9.57654162e-01 0.00000000e+00 1.11234541e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31746625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.32, Y:11.13, Z:0.02 [[ 9.57615067e-01 -2.88051009e-01 0.00000000e+00 1.54323803e+02] [ 2.88051009e-01 9.57615067e-01 0.00000000e+00 1.11316042e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22086032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.35, Y:11.14, Z:0.02 [[ 9.57371334e-01 -2.88860050e-01 0.00000000e+00 1.54351426e+02] [ 2.88860050e-01 9.57371334e-01 0.00000000e+00 1.11386891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12120546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.38, Y:11.15, Z:0.02 [[ 9.57395890e-01 -2.88778652e-01 0.00000000e+00 1.54378261e+02] [ 2.88778652e-01 9.57395890e-01 0.00000000e+00 1.11471832e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14330403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.40, Y:11.16, Z:0.02 [[ 9.57746526e-01 -2.87613616e-01 0.00000000e+00 1.54404610e+02] [ 2.87613616e-01 9.57746526e-01 0.00000000e+00 1.11562758e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13025461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.43, Y:11.17, Z:0.02 [[ 9.58186632e-01 -2.86143983e-01 0.00000000e+00 1.54431587e+02] [ 2.86143983e-01 9.58186632e-01 0.00000000e+00 1.11653855e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13037189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.46, Y:11.17, Z:0.02 [[ 9.58476406e-01 -2.85171840e-01 0.00000000e+00 1.54458284e+02] [ 2.85171840e-01 9.58476406e-01 0.00000000e+00 1.11734142e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19199791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.49, Y:11.18, Z:0.02 [[ 9.58558681e-01 -2.84895166e-01 0.00000000e+00 1.54485047e+02] [ 2.84895166e-01 9.58558681e-01 0.00000000e+00 1.11822882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15011687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.51, Y:11.19, Z:0.02 [[ 9.58730526e-01 -2.84316337e-01 0.00000000e+00 1.54512202e+02] [ 2.84316337e-01 9.58730526e-01 0.00000000e+00 1.11934264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02090327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.54, Y:11.20, Z:0.02 [[ 9.58768353e-01 -2.84188748e-01 0.00000000e+00 1.54536975e+02] [ 2.84188748e-01 9.58768353e-01 0.00000000e+00 1.12030353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82948586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.56, Y:11.21, Z:0.02 [[ 9.58800089e-01 -2.84081659e-01 0.00000000e+00 1.54563840e+02] [ 2.84081659e-01 9.58800089e-01 0.00000000e+00 1.12114797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85368918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.59, Y:11.22, Z:0.02 [[ 9.58712879e-01 -2.84375835e-01 0.00000000e+00 1.54590132e+02] [ 2.84375835e-01 9.58712879e-01 0.00000000e+00 1.12209502e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99710050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.61, Y:11.23, Z:0.02 [[ 9.58492746e-01 -2.85116917e-01 0.00000000e+00 1.54614808e+02] [ 2.85116917e-01 9.58492746e-01 0.00000000e+00 1.12334198e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92238386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.64, Y:11.24, Z:0.02 [[ 9.57828316e-01 -2.87341115e-01 0.00000000e+00 1.54641046e+02] [ 2.87341115e-01 9.57828316e-01 0.00000000e+00 1.12421843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90242280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.67, Y:11.25, Z:0.02 [[ 9.57339108e-01 -2.88966837e-01 0.00000000e+00 1.54668438e+02] [ 2.88966837e-01 9.57339108e-01 0.00000000e+00 1.12510532e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83214948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.70, Y:11.26, Z:0.02 [[ 9.56762637e-01 -2.90869828e-01 0.00000000e+00 1.54696068e+02] [ 2.90869828e-01 9.56762637e-01 0.00000000e+00 1.12605398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59398030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.72, Y:11.27, Z:0.01 [[ 9.56749936e-01 -2.90911603e-01 0.00000000e+00 1.54721337e+02] [ 2.90911603e-01 9.56749936e-01 0.00000000e+00 1.12689967e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36631953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.75, Y:11.28, Z:0.01 [[ 9.56835811e-01 -2.90629027e-01 0.00000000e+00 1.54748618e+02] [ 2.90629027e-01 9.56835811e-01 0.00000000e+00 1.12781064e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49388689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.78, Y:11.29, Z:0.01 [[ 9.57057685e-01 -2.89897546e-01 0.00000000e+00 1.54775981e+02] [ 2.89897546e-01 9.57057685e-01 0.00000000e+00 1.12866959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34467853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.80, Y:11.30, Z:0.01 [[ 9.57327935e-01 -2.89003849e-01 0.00000000e+00 1.54800971e+02] [ 2.89003849e-01 9.57327935e-01 0.00000000e+00 1.13004765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08379701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.83, Y:11.31, Z:0.01 [[ 9.57582112e-01 -2.88160544e-01 0.00000000e+00 1.54826882e+02] [ 2.88160544e-01 9.57582112e-01 0.00000000e+00 1.13123186e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45571884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.85, Y:11.32, Z:0.02 [[ 9.57934021e-01 -2.86988521e-01 0.00000000e+00 1.54853806e+02] [ 2.86988521e-01 9.57934021e-01 0.00000000e+00 1.13210264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58109474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.88, Y:11.33, Z:0.02 [[ 9.57971557e-01 -2.86863201e-01 0.00000000e+00 1.54881812e+02] [ 2.86863201e-01 9.57971557e-01 0.00000000e+00 1.13296932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79740612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.91, Y:11.34, Z:0.02 [[ 9.58325966e-01 -2.85676992e-01 0.00000000e+00 1.54908655e+02] [ 2.85676992e-01 9.58325966e-01 0.00000000e+00 1.13392341e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90908146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.93, Y:11.35, Z:0.02 [[ 9.58618931e-01 -2.84692370e-01 0.00000000e+00 1.54933731e+02] [ 2.84692370e-01 9.58618931e-01 0.00000000e+00 1.13527843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70665154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.96, Y:11.37, Z:0.02 [[ 9.58730383e-01 -2.84316818e-01 0.00000000e+00 1.54958486e+02] [ 2.84316818e-01 9.58730383e-01 0.00000000e+00 1.13661851e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60045464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.98, Y:11.38, Z:0.01 [[ 9.58632354e-01 -2.84647167e-01 0.00000000e+00 1.54984437e+02] [ 2.84647167e-01 9.58632354e-01 0.00000000e+00 1.13756721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47082723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.01, Y:11.39, Z:0.02 [[ 9.58283597e-01 -2.85819082e-01 0.00000000e+00 1.55011336e+02] [ 2.85819082e-01 9.58283597e-01 0.00000000e+00 1.13868000e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59141030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.04, Y:11.40, Z:0.01 [[ 9.58107985e-01 -2.86407209e-01 0.00000000e+00 1.55036122e+02] [ 2.86407209e-01 9.58107985e-01 0.00000000e+00 1.13972589e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36382204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.06, Y:11.41, Z:0.02 [[ 9.57934570e-01 -2.86986690e-01 0.00000000e+00 1.55062703e+02] [ 2.86986690e-01 9.57934570e-01 0.00000000e+00 1.14070982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80557163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.09, Y:11.42, Z:0.02 [[ 9.57876598e-01 -2.87180124e-01 0.00000000e+00 1.55090166e+02] [ 2.87180124e-01 9.57876598e-01 0.00000000e+00 1.14170619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23631169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.12, Y:11.43, Z:0.02 [[ 9.57598999e-01 -2.88104421e-01 0.00000000e+00 1.55115481e+02] [ 2.88104421e-01 9.57598999e-01 0.00000000e+00 1.14287771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61696435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.14, Y:11.44, Z:0.02 [[ 9.57346589e-01 -2.88942051e-01 0.00000000e+00 1.55142810e+02] [ 2.88942051e-01 9.57346589e-01 0.00000000e+00 1.14390791e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57322099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.17, Y:11.45, Z:0.02 [[ 9.57278784e-01 -2.89166612e-01 0.00000000e+00 1.55168708e+02] [ 2.89166612e-01 9.57278784e-01 0.00000000e+00 1.14488997e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63116608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.20, Y:11.46, Z:0.02 [[ 9.57114525e-01 -2.89709829e-01 0.00000000e+00 1.55195396e+02] [ 2.89709829e-01 9.57114525e-01 0.00000000e+00 1.14568094e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80614167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.22, Y:11.46, Z:0.02 [[ 9.57108586e-01 -2.89729449e-01 0.00000000e+00 1.55221653e+02] [ 2.89729449e-01 9.57108586e-01 0.00000000e+00 1.14648039e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84292429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.25, Y:11.48, Z:0.02 [[ 9.57241282e-01 -2.89290733e-01 0.00000000e+00 1.55248304e+02] [ 2.89290733e-01 9.57241282e-01 0.00000000e+00 1.14758975e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15236407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.27, Y:11.49, Z:0.02 [[ 9.57481628e-01 -2.88494250e-01 0.00000000e+00 1.55273247e+02] [ 2.88494250e-01 9.57481628e-01 0.00000000e+00 1.14884925e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15815133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.30, Y:11.50, Z:0.02 [[ 9.57634435e-01 -2.87986611e-01 0.00000000e+00 1.55299084e+02] [ 2.87986611e-01 9.57634435e-01 0.00000000e+00 1.14977690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08800189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.33, Y:11.51, Z:0.02 [[ 9.57769336e-01 -2.87537647e-01 0.00000000e+00 1.55325446e+02] [ 2.87537647e-01 9.57769336e-01 0.00000000e+00 1.15063944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13407833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.35, Y:11.52, Z:0.02 [[ 9.57944643e-01 -2.86953064e-01 0.00000000e+00 1.55351583e+02] [ 2.86953064e-01 9.57944643e-01 0.00000000e+00 1.15173202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02064658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.38, Y:11.53, Z:0.02 [[ 9.58020491e-01 -2.86699737e-01 0.00000000e+00 1.55378016e+02] [ 2.86699737e-01 9.58020491e-01 0.00000000e+00 1.15259200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79677415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.41, Y:11.54, Z:0.02 [[ 9.58029151e-01 -2.86670796e-01 0.00000000e+00 1.55405468e+02] [ 2.86670796e-01 9.58029151e-01 0.00000000e+00 1.15355592e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85099115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.43, Y:11.55, Z:0.02 [[ 9.58210551e-01 -2.86063874e-01 0.00000000e+00 1.55429879e+02] [ 2.86063874e-01 9.58210551e-01 0.00000000e+00 1.15487545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69894837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.46, Y:11.56, Z:0.02 [[ 9.58168577e-01 -2.86204435e-01 0.00000000e+00 1.55455674e+02] [ 2.86204435e-01 9.58168577e-01 0.00000000e+00 1.15582774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55713164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.48, Y:11.57, Z:0.02 [[ 9.58035255e-01 -2.86650398e-01 0.00000000e+00 1.55482635e+02] [ 2.86650398e-01 9.58035255e-01 0.00000000e+00 1.15691555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89275524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.51, Y:11.58, Z:0.02 [[ 9.57669668e-01 -2.87869427e-01 0.00000000e+00 1.55508651e+02] [ 2.87869427e-01 9.57669668e-01 0.00000000e+00 1.15817376e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26717337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.53, Y:11.59, Z:0.02 [[ 9.56951770e-01 -2.90246982e-01 0.00000000e+00 1.55534424e+02] [ 2.90246982e-01 9.56951770e-01 0.00000000e+00 1.15922239e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04440465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.56, Y:11.60, Z:0.02 [[ 9.56518753e-01 -2.91670833e-01 0.00000000e+00 1.55561319e+02] [ 2.91670833e-01 9.56518753e-01 0.00000000e+00 1.16027620e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03287843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.59, Y:11.61, Z:0.02 [[ 9.55813628e-01 -2.93973313e-01 0.00000000e+00 1.55587021e+02] [ 2.93973313e-01 9.55813628e-01 0.00000000e+00 1.16130705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03070362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.61, Y:11.62, Z:0.02 [[ 9.55206891e-01 -2.95938837e-01 0.00000000e+00 1.55613868e+02] [ 2.95938837e-01 9.55206891e-01 0.00000000e+00 1.16241051e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39658000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.64, Y:11.63, Z:0.03 [[ 9.54967172e-01 -2.96711478e-01 0.00000000e+00 1.55640160e+02] [ 2.96711478e-01 9.54967172e-01 0.00000000e+00 1.16340432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54544825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.67, Y:11.64, Z:0.02 [[ 9.54811404e-01 -2.97212353e-01 0.00000000e+00 1.55666083e+02] [ 2.97212353e-01 9.54811404e-01 0.00000000e+00 1.16439768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28869711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.69, Y:11.66, Z:0.02 [[ 9.55098884e-01 -2.96287230e-01 0.00000000e+00 1.55691920e+02] [ 2.96287230e-01 9.55098884e-01 0.00000000e+00 1.16550164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74731126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.72, Y:11.66, Z:0.02 [[ 9.55347332e-01 -2.95485152e-01 0.00000000e+00 1.55720263e+02] [ 2.95485152e-01 9.55347332e-01 0.00000000e+00 1.16621607e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52415848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.75, Y:11.67, Z:0.01 [[ 9.55492630e-01 -2.95014974e-01 0.00000000e+00 1.55747164e+02] [ 2.95014974e-01 9.55492630e-01 0.00000000e+00 1.16711353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21318585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.77, Y:11.68, Z:0.02 [[ 9.56003215e-01 -2.93356189e-01 0.00000000e+00 1.55774015e+02] [ 2.93356189e-01 9.56003215e-01 0.00000000e+00 1.16830017e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67444917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.80, Y:11.69, Z:0.02 [[ 9.56456109e-01 -2.91876192e-01 0.00000000e+00 1.55800753e+02] [ 2.91876192e-01 9.56456109e-01 0.00000000e+00 1.16935878e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17117017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.83, Y:11.70, Z:0.02 [[ 9.56659442e-01 -2.91209051e-01 0.00000000e+00 1.55827883e+02] [ 2.91209051e-01 9.56659442e-01 0.00000000e+00 1.17029668e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43652773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.85, Y:11.71, Z:0.03 [[ 9.57186642e-01 -2.89471471e-01 0.00000000e+00 1.55854660e+02] [ 2.89471471e-01 9.57186642e-01 0.00000000e+00 1.17113426e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57440929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.88, Y:11.72, Z:0.03 [[ 9.57131949e-01 -2.89652262e-01 0.00000000e+00 1.55881552e+02] [ 2.89652262e-01 9.57131949e-01 0.00000000e+00 1.17207856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57440929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.91, Y:11.73, Z:0.02 [[ 9.57558891e-01 -2.88237698e-01 0.00000000e+00 1.55908009e+02] [ 2.88237698e-01 9.57558891e-01 0.00000000e+00 1.17307583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02364705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.93, Y:11.74, Z:0.02 [[ 9.57773704e-01 -2.87523098e-01 0.00000000e+00 1.55934331e+02] [ 2.87523098e-01 9.57773704e-01 0.00000000e+00 1.17412819e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91480175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.96, Y:11.75, Z:0.02 [[ 9.58215661e-01 -2.86046755e-01 0.00000000e+00 1.55958963e+02] [ 2.86046755e-01 9.58215661e-01 0.00000000e+00 1.17514120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72323927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.99, Y:11.76, Z:0.01 [[ 9.58417012e-01 -2.85371391e-01 0.00000000e+00 1.55986372e+02] [ 2.85371391e-01 9.58417012e-01 0.00000000e+00 1.17596175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15376855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.01, Y:11.77, Z:0.01 [[ 9.58401406e-01 -2.85423800e-01 0.00000000e+00 1.56014068e+02] [ 2.85423800e-01 9.58401406e-01 0.00000000e+00 1.17685884e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30402734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.04, Y:11.78, Z:0.01 [[ 9.58326230e-01 -2.85676104e-01 0.00000000e+00 1.56039911e+02] [ 2.85676104e-01 9.58326230e-01 0.00000000e+00 1.17769536e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23631426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.07, Y:11.79, Z:0.02 [[ 9.57762259e-01 -2.87561219e-01 0.00000000e+00 1.56066303e+02] [ 2.87561219e-01 9.57762259e-01 0.00000000e+00 1.17887686e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55978128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.09, Y:11.80, Z:0.01 [[ 9.57478017e-01 -2.88506233e-01 0.00000000e+00 1.56091778e+02] [ 2.88506233e-01 9.57478017e-01 0.00000000e+00 1.17990170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42746175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.12, Y:11.81, Z:0.01 [[ 9.56717729e-01 -2.91017504e-01 0.00000000e+00 1.56117975e+02] [ 2.91017504e-01 9.56717729e-01 0.00000000e+00 1.18068410e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34161744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:11.81, Z:0.02 [[ 9.55805900e-01 -2.93998437e-01 0.00000000e+00 1.56146658e+02] [ 2.93998437e-01 9.55805900e-01 0.00000000e+00 1.18105812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27508047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:11.82, Z:0.02 [[ 9.55217583e-01 -2.95904323e-01 0.00000000e+00 1.56173207e+02] [ 2.95904323e-01 9.55217583e-01 0.00000000e+00 1.18199085e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33633653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.20, Y:11.83, Z:0.02 [[ 9.55030460e-01 -2.96507708e-01 0.00000000e+00 1.56199425e+02] [ 2.96507708e-01 9.55030460e-01 0.00000000e+00 1.18299715e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17887725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.22, Y:11.84, Z:0.02 [[ 9.54799407e-01 -2.97250891e-01 0.00000000e+00 1.56224754e+02] [ 2.97250891e-01 9.54799407e-01 0.00000000e+00 1.18382073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08789043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:11.85, Z:0.02 [[ 9.55043650e-01 -2.96465219e-01 0.00000000e+00 1.56251840e+02] [ 2.96465219e-01 9.55043650e-01 0.00000000e+00 1.18470388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24762134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.28, Y:11.85, Z:0.02 [[ 9.55248088e-01 -2.95805833e-01 0.00000000e+00 1.56278939e+02] [ 2.95805833e-01 9.55248088e-01 0.00000000e+00 1.18549202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89156270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:11.86, Z:0.02 [[ 9.55539825e-01 -2.94862074e-01 0.00000000e+00 1.56307842e+02] [ 2.94862074e-01 9.55539825e-01 0.00000000e+00 1.18600707e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80606370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.33, Y:11.87, Z:0.02 [[ 9.56037727e-01 -2.93243695e-01 0.00000000e+00 1.56333474e+02] [ 2.93243695e-01 9.56037727e-01 0.00000000e+00 1.18723889e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87358035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.36, Y:11.88, Z:0.02 [[ 9.56296365e-01 -2.92399149e-01 0.00000000e+00 1.56359450e+02] [ 2.92399149e-01 9.56296365e-01 0.00000000e+00 1.18842959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13428080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.39, Y:11.89, Z:0.02 [[ 9.56766573e-01 -2.90856879e-01 0.00000000e+00 1.56385773e+02] [ 2.90856879e-01 9.56766573e-01 0.00000000e+00 1.18941322e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10711397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.41, Y:11.90, Z:0.02 [[ 9.56708524e-01 -2.91047763e-01 0.00000000e+00 1.56413034e+02] [ 2.91047763e-01 9.56708524e-01 0.00000000e+00 1.19007283e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28079103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.44, Y:11.91, Z:0.02 [[ 9.56521105e-01 -2.91663121e-01 0.00000000e+00 1.56439402e+02] [ 2.91663121e-01 9.56521105e-01 0.00000000e+00 1.19100903e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34265769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.47, Y:11.92, Z:0.02 [[ 9.56180629e-01 -2.92777398e-01 0.00000000e+00 1.56466019e+02] [ 2.92777398e-01 9.56180629e-01 0.00000000e+00 1.19207225e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45311568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:11.93, Z:0.03 [[ 9.55855554e-01 -2.93836961e-01 0.00000000e+00 1.56492990e+02] [ 2.93836961e-01 9.55855554e-01 0.00000000e+00 1.19293794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52370237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:11.94, Z:0.03 [[ 9.55845655e-01 -2.93869160e-01 0.00000000e+00 1.56519413e+02] [ 2.93869160e-01 9.55845655e-01 0.00000000e+00 1.19393334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53751753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:11.95, Z:0.02 [[ 9.56214968e-01 -2.92665227e-01 0.00000000e+00 1.56545354e+02] [ 2.92665227e-01 9.56214968e-01 0.00000000e+00 1.19488152e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25078745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:11.96, Z:0.02 [[ 9.56388730e-01 -2.92096896e-01 0.00000000e+00 1.56572707e+02] [ 2.92096896e-01 9.56388730e-01 0.00000000e+00 1.19588178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10315957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:11.97, Z:0.02 [[ 9.56842998e-01 -2.90605362e-01 0.00000000e+00 1.56598306e+02] [ 2.90605362e-01 9.56842998e-01 0.00000000e+00 1.19721597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11297819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.62, Y:11.98, Z:0.02 [[ 9.57060705e-01 -2.89887578e-01 0.00000000e+00 1.56624320e+02] [ 2.89887578e-01 9.57060705e-01 0.00000000e+00 1.19830189e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11904130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:12.00, Z:0.02 [[ 9.57287655e-01 -2.89137244e-01 0.00000000e+00 1.56649657e+02] [ 2.89137244e-01 9.57287655e-01 0.00000000e+00 1.19956998e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02775643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.68, Y:12.01, Z:0.02 [[ 9.57229857e-01 -2.89328534e-01 0.00000000e+00 1.56675394e+02] [ 2.89328534e-01 9.57229857e-01 0.00000000e+00 1.20073358e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13989229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.70, Y:12.02, Z:0.02 [[ 9.56951544e-01 -2.90247725e-01 0.00000000e+00 1.56701417e+02] [ 2.90247725e-01 9.56951544e-01 0.00000000e+00 1.20174788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36274668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.73, Y:12.03, Z:0.02 [[ 9.56718753e-01 -2.91014138e-01 0.00000000e+00 1.56727603e+02] [ 2.91014138e-01 9.56718753e-01 0.00000000e+00 1.20271277e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41883466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.75, Y:12.04, Z:0.02 [[ 9.56260898e-01 -2.92515118e-01 0.00000000e+00 1.56752787e+02] [ 2.92515118e-01 9.56260898e-01 0.00000000e+00 1.20429741e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28482357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.78, Y:12.06, Z:0.02 [[ 9.55784992e-01 -2.94066401e-01 0.00000000e+00 1.56778651e+02] [ 2.94066401e-01 9.55784992e-01 0.00000000e+00 1.20573856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13198528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.80, Y:12.07, Z:0.02 [[ 9.55405435e-01 -2.95297231e-01 0.00000000e+00 1.56803513e+02] [ 2.95297231e-01 9.55405435e-01 0.00000000e+00 1.20701650e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15849473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.83, Y:12.08, Z:0.02 [[ 9.55088500e-01 -2.96320699e-01 0.00000000e+00 1.56828840e+02] [ 2.96320699e-01 9.55088500e-01 0.00000000e+00 1.20811549e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19740628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.86, Y:12.09, Z:0.02 [[ 9.54235172e-01 -2.99057248e-01 0.00000000e+00 1.56855555e+02] [ 2.99057248e-01 9.54235172e-01 0.00000000e+00 1.20926981e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47758546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.88, Y:12.11, Z:0.03 [[ 9.53572787e-01 -3.01162647e-01 0.00000000e+00 1.56881528e+02] [ 3.01162647e-01 9.53572787e-01 0.00000000e+00 1.21069951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00276998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.91, Y:12.12, Z:0.02 [[ 9.52771766e-01 -3.03687278e-01 0.00000000e+00 1.56906884e+02] [ 3.03687278e-01 9.52771766e-01 0.00000000e+00 1.21198601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28462731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.93, Y:12.13, Z:0.02 [[ 9.52311845e-01 -3.05126449e-01 0.00000000e+00 1.56934253e+02] [ 3.05126449e-01 9.52311845e-01 0.00000000e+00 1.21299144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38772106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.96, Y:12.14, Z:0.03 [[ 9.51724986e-01 -3.06952032e-01 0.00000000e+00 1.56960798e+02] [ 3.06952032e-01 9.51724986e-01 0.00000000e+00 1.21425599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68962827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.99, Y:12.15, Z:0.02 [[ 9.51549722e-01 -3.07494920e-01 0.00000000e+00 1.56987159e+02] [ 3.07494920e-01 9.51549722e-01 0.00000000e+00 1.21521551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23144897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.01, Y:12.16, Z:0.02 [[ 9.51486837e-01 -3.07689451e-01 0.00000000e+00 1.57014189e+02] [ 3.07689451e-01 9.51486837e-01 0.00000000e+00 1.21631558e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27935313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.04, Y:12.18, Z:0.02 [[ 9.51529448e-01 -3.07557652e-01 0.00000000e+00 1.57039713e+02] [ 3.07557652e-01 9.51529448e-01 0.00000000e+00 1.21759269e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15465063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.06, Y:12.19, Z:0.02 [[ 9.51785937e-01 -3.06762986e-01 0.00000000e+00 1.57064742e+02] [ 3.06762986e-01 9.51785937e-01 0.00000000e+00 1.21897273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11924495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.09, Y:12.20, Z:0.02 [[ 9.52086720e-01 -3.05828182e-01 0.00000000e+00 1.57092277e+02] [ 3.05828182e-01 9.52086720e-01 0.00000000e+00 1.21992754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34393018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.12, Y:12.21, Z:0.02 [[ 9.52240033e-01 -3.05350485e-01 0.00000000e+00 1.57118047e+02] [ 3.05350485e-01 9.52240033e-01 0.00000000e+00 1.22094042e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31657916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.14, Y:12.22, Z:0.02 [[ 9.52347788e-01 -3.05014248e-01 0.00000000e+00 1.57142920e+02] [ 3.05014248e-01 9.52347788e-01 0.00000000e+00 1.22208394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14113072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.17, Y:12.23, Z:0.02 [[ 9.52004992e-01 -3.06082497e-01 0.00000000e+00 1.57168780e+02] [ 3.06082497e-01 9.52004992e-01 0.00000000e+00 1.22326633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42986332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.19, Y:12.24, Z:0.02 [[ 9.51906698e-01 -3.06388052e-01 0.00000000e+00 1.57194657e+02] [ 3.06388052e-01 9.51906698e-01 0.00000000e+00 1.22431522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31038959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.22, Y:12.25, Z:0.02 [[ 9.51803223e-01 -3.06709348e-01 0.00000000e+00 1.57221291e+02] [ 3.06709348e-01 9.51803223e-01 0.00000000e+00 1.22524828e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04852685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.25, Y:12.26, Z:0.02 [[ 9.51847420e-01 -3.06572161e-01 0.00000000e+00 1.57248452e+02] [ 3.06572161e-01 9.51847420e-01 0.00000000e+00 1.22608317e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36333526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.27, Y:12.27, Z:0.02 [[ 9.52186980e-01 -3.05515883e-01 0.00000000e+00 1.57274797e+02] [ 3.05515883e-01 9.52186980e-01 0.00000000e+00 1.22695273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43902490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.30, Y:12.28, Z:0.02 [[ 9.52904476e-01 -3.03270604e-01 0.00000000e+00 1.57299840e+02] [ 3.03270604e-01 9.52904476e-01 0.00000000e+00 1.22818679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22971749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.33, Y:12.29, Z:0.02 [[ 9.53903920e-01 -3.00112163e-01 0.00000000e+00 1.57325454e+02] [ 3.00112163e-01 9.53903920e-01 0.00000000e+00 1.22939157e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99777123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.35, Y:12.30, Z:0.02 [[ 9.54343325e-01 -2.98711933e-01 0.00000000e+00 1.57351352e+02] [ 2.98711933e-01 9.54343325e-01 0.00000000e+00 1.23031671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24418731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.38, Y:12.31, Z:0.02 [[ 9.55325663e-01 -2.95555202e-01 0.00000000e+00 1.57377658e+02] [ 2.95555202e-01 9.55325663e-01 0.00000000e+00 1.23102886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01557576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.40, Y:12.32, Z:0.02 [[ 9.56011264e-01 -2.93329955e-01 0.00000000e+00 1.57404396e+02] [ 2.93329955e-01 9.56011264e-01 0.00000000e+00 1.23219751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46253070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.43, Y:12.33, Z:0.02 [[ 9.56379251e-01 -2.92127930e-01 0.00000000e+00 1.57429761e+02] [ 2.92127930e-01 9.56379251e-01 0.00000000e+00 1.23343305e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22877360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.46, Y:12.35, Z:0.02 [[ 9.57277459e-01 -2.89170999e-01 0.00000000e+00 1.57455642e+02] [ 2.89170999e-01 9.57277459e-01 0.00000000e+00 1.23490527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93934500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.48, Y:12.36, Z:0.02 [[ 9.57507202e-01 -2.88409360e-01 0.00000000e+00 1.57482626e+02] [ 2.88409360e-01 9.57507202e-01 0.00000000e+00 1.23598061e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31403702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.51, Y:12.37, Z:0.02 [[ 9.57341550e-01 -2.88958744e-01 0.00000000e+00 1.57509806e+02] [ 2.88958744e-01 9.57341550e-01 0.00000000e+00 1.23698273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47592699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.54, Y:12.38, Z:0.03 [[ 9.56896892e-01 -2.90427855e-01 0.00000000e+00 1.57536689e+02] [ 2.90427855e-01 9.56896892e-01 0.00000000e+00 1.23786879e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51796910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.56, Y:12.39, Z:0.03 [[ 9.56840396e-01 -2.90613930e-01 0.00000000e+00 1.57563492e+02] [ 2.90613930e-01 9.56840396e-01 0.00000000e+00 1.23883407e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51796910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.59, Y:12.40, Z:0.02 [[ 9.56503899e-01 -2.91719544e-01 0.00000000e+00 1.57587177e+02] [ 2.91719544e-01 9.56503899e-01 0.00000000e+00 1.24013153e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26067183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.61, Y:12.42, Z:0.02 [[ 9.56410430e-01 -2.92025836e-01 0.00000000e+00 1.57612397e+02] [ 2.92025836e-01 9.56410430e-01 0.00000000e+00 1.24152451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33341851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.64, Y:12.43, Z:0.02 [[ 9.56348740e-01 -2.92227802e-01 0.00000000e+00 1.57637677e+02] [ 2.92227802e-01 9.56348740e-01 0.00000000e+00 1.24290705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14486454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.66, Y:12.44, Z:0.02 [[ 9.55849676e-01 -2.93856082e-01 0.00000000e+00 1.57664312e+02] [ 2.93856082e-01 9.55849676e-01 0.00000000e+00 1.24394338e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31247594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.69, Y:12.45, Z:0.02 [[ 9.55627439e-01 -2.94578000e-01 0.00000000e+00 1.57688532e+02] [ 2.94578000e-01 9.55627439e-01 0.00000000e+00 1.24504993e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24065153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.71, Y:12.46, Z:0.02 [[ 9.55319292e-01 -2.95575796e-01 0.00000000e+00 1.57714212e+02] [ 2.95575796e-01 9.55319292e-01 0.00000000e+00 1.24620705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91183527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.74, Y:12.48, Z:0.02 [[ 9.54638351e-01 -2.97767725e-01 0.00000000e+00 1.57739496e+02] [ 2.97767725e-01 9.54638351e-01 0.00000000e+00 1.24759497e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06197968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.76, Y:12.49, Z:0.02 [[ 9.54202595e-01 -2.99161174e-01 0.00000000e+00 1.57763820e+02] [ 2.99161174e-01 9.54202595e-01 0.00000000e+00 1.24891946e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88931010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.79, Y:12.50, Z:0.02 [[ 9.53103364e-01 -3.02644969e-01 0.00000000e+00 1.57789281e+02] [ 3.02644969e-01 9.53103364e-01 0.00000000e+00 1.25012923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95773679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.82, Y:12.51, Z:0.02 [[ 9.51680697e-01 -3.07089321e-01 0.00000000e+00 1.57815605e+02] [ 3.07089321e-01 9.51680697e-01 0.00000000e+00 1.25097060e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17281904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.84, Y:12.52, Z:0.02 [[ 9.50114977e-01 -3.11899872e-01 0.00000000e+00 1.57841255e+02] [ 3.11899872e-01 9.50114977e-01 0.00000000e+00 1.25192520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11272007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.87, Y:12.53, Z:0.02 [[ 9.49392819e-01 -3.14091191e-01 0.00000000e+00 1.57867086e+02] [ 3.14091191e-01 9.49392819e-01 0.00000000e+00 1.25291193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91433198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.89, Y:12.54, Z:0.02 [[ 9.48382805e-01 -3.17127821e-01 0.00000000e+00 1.57892961e+02] [ 3.17127821e-01 9.48382805e-01 0.00000000e+00 1.25395037e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96516357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.92, Y:12.55, Z:0.02 [[ 9.47966361e-01 -3.18370506e-01 0.00000000e+00 1.57919633e+02] [ 3.18370506e-01 9.47966361e-01 0.00000000e+00 1.25480993e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07269603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.95, Y:12.55, Z:0.02 [[ 9.47430773e-01 -3.19960826e-01 0.00000000e+00 1.57948803e+02] [ 3.19960826e-01 9.47430773e-01 0.00000000e+00 1.25522892e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36382504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.98, Y:12.56, Z:0.03 [[ 9.47969180e-01 -3.18362111e-01 0.00000000e+00 1.57976933e+02] [ 3.18362111e-01 9.47969180e-01 0.00000000e+00 1.25597735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78208488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.00, Y:12.57, Z:0.02 [[ 9.48642786e-01 -3.16349276e-01 0.00000000e+00 1.58003275e+02] [ 3.16349276e-01 9.48642786e-01 0.00000000e+00 1.25693606e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49137141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.03, Y:12.58, Z:0.02 [[ 9.50251620e-01 -3.11483320e-01 0.00000000e+00 1.58031599e+02] [ 3.11483320e-01 9.50251620e-01 0.00000000e+00 1.25768885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22473794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.06, Y:12.59, Z:0.02 [[ 9.52364819e-01 -3.04961065e-01 0.00000000e+00 1.58057586e+02] [ 3.04961065e-01 9.52364819e-01 0.00000000e+00 1.25870851e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45849243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.08, Y:12.60, Z:0.02 [[ 9.53498813e-01 -3.01396770e-01 0.00000000e+00 1.58083025e+02] [ 3.01396770e-01 9.53498813e-01 0.00000000e+00 1.25978710e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19763266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.11, Y:12.61, Z:0.02 [[ 9.55656776e-01 -2.94482813e-01 0.00000000e+00 1.58109624e+02] [ 2.94482813e-01 9.55656776e-01 0.00000000e+00 1.26074100e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80160910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.14, Y:12.62, Z:0.02 [[ 9.57346780e-01 -2.88941419e-01 0.00000000e+00 1.58135322e+02] [ 2.88941419e-01 9.57346780e-01 0.00000000e+00 1.26179228e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80258674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.16, Y:12.63, Z:0.02 [[ 9.57972295e-01 -2.86860735e-01 0.00000000e+00 1.58162306e+02] [ 2.86860735e-01 9.57972295e-01 0.00000000e+00 1.26285324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14172087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.19, Y:12.64, Z:0.02 [[ 9.58950740e-01 -2.83572704e-01 0.00000000e+00 1.58187328e+02] [ 2.83572704e-01 9.58950740e-01 0.00000000e+00 1.26405005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21121708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.21, Y:12.66, Z:0.03 [[ 9.59381582e-01 -2.82111645e-01 0.00000000e+00 1.58211517e+02] [ 2.82111645e-01 9.59381582e-01 0.00000000e+00 1.26570889e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68488077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.24, Y:12.67, Z:0.03 [[ 9.59172502e-01 -2.82821697e-01 0.00000000e+00 1.58237905e+02] [ 2.82821697e-01 9.59172502e-01 0.00000000e+00 1.26695530e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83980913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.26, Y:12.68, Z:0.02 [[ 9.58094665e-01 -2.86451763e-01 0.00000000e+00 1.58264011e+02] [ 2.86451763e-01 9.58094665e-01 0.00000000e+00 1.26805059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47817508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.29, Y:12.69, Z:0.02 [[ 9.57285519e-01 -2.89144315e-01 0.00000000e+00 1.58290624e+02] [ 2.89144315e-01 9.57285519e-01 0.00000000e+00 1.26913635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32413607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.32, Y:12.70, Z:0.02 [[ 9.55204277e-01 -2.95947273e-01 0.00000000e+00 1.58316625e+02] [ 2.95947273e-01 9.55204277e-01 0.00000000e+00 1.27036865e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32440977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.34, Y:12.71, Z:0.02 [[ 9.53198768e-01 -3.02344353e-01 0.00000000e+00 1.58343459e+02] [ 3.02344353e-01 9.53198768e-01 0.00000000e+00 1.27146229e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37278071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.37, Y:12.72, Z:0.03 [[ 9.52205121e-01 -3.05459339e-01 0.00000000e+00 1.58369163e+02] [ 3.05459339e-01 9.52205121e-01 0.00000000e+00 1.27244848e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51576758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.40, Y:12.73, Z:0.02 [[ 9.50426460e-01 -3.10949423e-01 0.00000000e+00 1.58395493e+02] [ 3.10949423e-01 9.50426460e-01 0.00000000e+00 1.27344121e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23737530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.42, Y:12.74, Z:0.02 [[ 9.48976415e-01 -3.15347053e-01 0.00000000e+00 1.58422758e+02] [ 3.15347053e-01 9.48976415e-01 0.00000000e+00 1.27432989e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45958682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.45, Y:12.75, Z:0.03 [[ 9.48267978e-01 -3.17471009e-01 0.00000000e+00 1.58448889e+02] [ 3.17471009e-01 9.48267978e-01 0.00000000e+00 1.27526338e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53839432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.48, Y:12.76, Z:0.03 [[ 9.47408377e-01 -3.20027134e-01 0.00000000e+00 1.58475256e+02] [ 3.20027134e-01 9.47408377e-01 0.00000000e+00 1.27630349e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77089293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.50, Y:12.77, Z:0.03 [[ 9.46871049e-01 -3.21613457e-01 0.00000000e+00 1.58501403e+02] [ 3.21613457e-01 9.46871049e-01 0.00000000e+00 1.27718500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81028912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.53, Y:12.78, Z:0.03 [[ 9.46837304e-01 -3.21712790e-01 0.00000000e+00 1.58527573e+02] [ 3.21712790e-01 9.46837304e-01 0.00000000e+00 1.27804635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62797377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.55, Y:12.79, Z:0.02 [[ 9.47458718e-01 -3.19878067e-01 0.00000000e+00 1.58554788e+02] [ 3.19878067e-01 9.47458718e-01 0.00000000e+00 1.27871867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41338821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.58, Y:12.80, Z:0.03 [[ 9.48633330e-01 -3.16377631e-01 0.00000000e+00 1.58581462e+02] [ 3.16377631e-01 9.48633330e-01 0.00000000e+00 1.27963118e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63956529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.61, Y:12.81, Z:0.03 [[ 9.50330952e-01 -3.11241194e-01 0.00000000e+00 1.58607000e+02] [ 3.11241194e-01 9.50330952e-01 0.00000000e+00 1.28091556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75819051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.63, Y:12.82, Z:0.03 [[ 9.51220341e-01 -3.08512340e-01 0.00000000e+00 1.58633150e+02] [ 3.08512340e-01 9.51220341e-01 0.00000000e+00 1.28203550e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66413530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.66, Y:12.83, Z:0.02 [[ 9.52958214e-01 -3.03101703e-01 0.00000000e+00 1.58658342e+02] [ 3.03101703e-01 9.52958214e-01 0.00000000e+00 1.28296474e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38617510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.69, Y:12.84, Z:0.03 [[ 9.53608883e-01 -3.01048332e-01 0.00000000e+00 1.58685683e+02] [ 3.01048332e-01 9.53608883e-01 0.00000000e+00 1.28389652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77703039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.71, Y:12.85, Z:0.03 [[ 9.54526782e-01 -2.98125178e-01 0.00000000e+00 1.58711167e+02] [ 2.98125178e-01 9.54526782e-01 0.00000000e+00 1.28495375e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73586023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.74, Y:12.86, Z:0.03 [[ 9.54599311e-01 -2.97892857e-01 0.00000000e+00 1.58735986e+02] [ 2.97892857e-01 9.54599311e-01 0.00000000e+00 1.28636966e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84591049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.76, Y:12.87, Z:0.03 [[ 9.54466794e-01 -2.98317180e-01 0.00000000e+00 1.58761375e+02] [ 2.98317180e-01 9.54466794e-01 0.00000000e+00 1.28746470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70045984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.79, Y:12.88, Z:0.02 [[ 9.54155068e-01 -2.99312724e-01 0.00000000e+00 1.58788296e+02] [ 2.99312724e-01 9.54155068e-01 0.00000000e+00 1.28824271e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47780535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.82, Y:12.89, Z:0.03 [[ 9.53644203e-01 -3.00936428e-01 0.00000000e+00 1.58816393e+02] [ 3.00936428e-01 9.53644203e-01 0.00000000e+00 1.28909531e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55379191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.84, Y:12.90, Z:0.03 [[ 9.53437770e-01 -3.01589818e-01 0.00000000e+00 1.58842401e+02] [ 3.01589818e-01 9.53437770e-01 0.00000000e+00 1.29008812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69112341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.87, Y:12.91, Z:0.03 [[ 9.53241663e-01 -3.02209087e-01 0.00000000e+00 1.58868373e+02] [ 3.02209087e-01 9.53241663e-01 0.00000000e+00 1.29117667e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79925229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.89, Y:12.92, Z:0.02 [[ 9.52746101e-01 -3.03767785e-01 0.00000000e+00 1.58894141e+02] [ 3.03767785e-01 9.52746101e-01 0.00000000e+00 1.29219581e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48405799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.92, Y:12.93, Z:0.02 [[ 9.52459443e-01 -3.04665406e-01 0.00000000e+00 1.58921961e+02] [ 3.04665406e-01 9.52459443e-01 0.00000000e+00 1.29310405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39476023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.95, Y:12.94, Z:0.02 [[ 9.51928962e-01 -3.06318872e-01 0.00000000e+00 1.58948281e+02] [ 3.06318872e-01 9.51928962e-01 0.00000000e+00 1.29387277e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25815135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.98, Y:12.95, Z:0.03 [[ 9.51035593e-01 -3.09081383e-01 0.00000000e+00 1.58975238e+02] [ 3.09081383e-01 9.51035593e-01 0.00000000e+00 1.29500755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63420771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.00, Y:12.96, Z:0.03 [[ 9.50711702e-01 -3.10076217e-01 0.00000000e+00 1.59001569e+02] [ 3.10076217e-01 9.50711702e-01 0.00000000e+00 1.29601025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60606222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.03, Y:12.97, Z:0.02 [[ 9.50351823e-01 -3.11177461e-01 0.00000000e+00 1.59028196e+02] [ 3.11177461e-01 9.50351823e-01 0.00000000e+00 1.29673260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33962660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.06, Y:12.98, Z:0.02 [[ 9.50280537e-01 -3.11395089e-01 0.00000000e+00 1.59055637e+02] [ 3.11395089e-01 9.50280537e-01 0.00000000e+00 1.29751331e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44941577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.08, Y:12.98, Z:0.02 [[ 9.50441091e-01 -3.10904702e-01 0.00000000e+00 1.59081367e+02] [ 3.10904702e-01 9.50441091e-01 0.00000000e+00 1.29820278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10255309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.11, Y:12.99, Z:0.02 [[ 9.50515330e-01 -3.10677658e-01 0.00000000e+00 1.59107914e+02] [ 3.10677658e-01 9.50515330e-01 0.00000000e+00 1.29921115e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38910928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.13, Y:13.00, Z:0.02 [[ 9.50511322e-01 -3.10689920e-01 0.00000000e+00 1.59132912e+02] [ 3.10689920e-01 9.50511322e-01 0.00000000e+00 1.30025687e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03401804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.16, Y:13.01, Z:0.02 [[ 9.50474618e-01 -3.10802188e-01 0.00000000e+00 1.59159756e+02] [ 3.10802188e-01 9.50474618e-01 0.00000000e+00 1.30133094e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17216155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.19, Y:13.02, Z:0.02 [[ 9.50712709e-01 -3.10073130e-01 0.00000000e+00 1.59187682e+02] [ 3.10073130e-01 9.50712709e-01 0.00000000e+00 1.30202662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47274785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.21, Y:13.03, Z:0.02 [[ 9.50654986e-01 -3.10250057e-01 0.00000000e+00 1.59214391e+02] [ 3.10250057e-01 9.50654986e-01 0.00000000e+00 1.30301562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47274785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.24, Y:13.04, Z:0.03 [[ 9.50812865e-01 -3.09765872e-01 0.00000000e+00 1.59240829e+02] [ 3.09765872e-01 9.50812865e-01 0.00000000e+00 1.30389913e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58377537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.27, Y:13.05, Z:0.03 [[ 9.51011865e-01 -3.09154382e-01 0.00000000e+00 1.59267770e+02] [ 3.09154382e-01 9.51011865e-01 0.00000000e+00 1.30485853e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94375542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.29, Y:13.06, Z:0.03 [[ 9.51090725e-01 -3.08911691e-01 0.00000000e+00 1.59292983e+02] [ 3.08911691e-01 9.51090725e-01 0.00000000e+00 1.30608626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93020088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.32, Y:13.07, Z:0.03 [[ 9.51124555e-01 -3.08807514e-01 0.00000000e+00 1.59319120e+02] [ 3.08807514e-01 9.51124555e-01 0.00000000e+00 1.30719298e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06337596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.35, Y:13.08, Z:0.03 [[ 9.51387630e-01 -3.07996068e-01 0.00000000e+00 1.59345516e+02] [ 3.07996068e-01 9.51387630e-01 0.00000000e+00 1.30801965e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66250220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.37, Y:13.09, Z:0.02 [[ 9.51166164e-01 -3.08679329e-01 0.00000000e+00 1.59372800e+02] [ 3.08679329e-01 9.51166164e-01 0.00000000e+00 1.30899977e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36091589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.40, Y:13.10, Z:0.03 [[ 9.50832665e-01 -3.09705092e-01 0.00000000e+00 1.59399866e+02] [ 3.09705092e-01 9.50832665e-01 0.00000000e+00 1.31003713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63441545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.43, Y:13.11, Z:0.03 [[ 9.50326991e-01 -3.11253291e-01 0.00000000e+00 1.59425868e+02] [ 3.11253291e-01 9.50326991e-01 0.00000000e+00 1.31093173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80313351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.45, Y:13.12, Z:0.03 [[ 9.49827511e-01 -3.12774198e-01 0.00000000e+00 1.59452698e+02] [ 3.12774198e-01 9.49827511e-01 0.00000000e+00 1.31183909e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11357842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.48, Y:13.13, Z:0.03 [[ 9.49568839e-01 -3.13558638e-01 0.00000000e+00 1.59479258e+02] [ 3.13558638e-01 9.49568839e-01 0.00000000e+00 1.31269634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05924755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.51, Y:13.14, Z:0.03 [[ 9.49082890e-01 -3.15026456e-01 0.00000000e+00 1.59506931e+02] [ 3.15026456e-01 9.49082890e-01 0.00000000e+00 1.31364393e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47942650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.53, Y:13.15, Z:0.03 [[ 9.49096614e-01 -3.14985106e-01 0.00000000e+00 1.59532534e+02] [ 3.14985106e-01 9.49096614e-01 0.00000000e+00 1.31463919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40421237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.56, Y:13.15, Z:0.03 [[ 9.49325908e-01 -3.14293368e-01 0.00000000e+00 1.59560116e+02] [ 3.14293368e-01 9.49325908e-01 0.00000000e+00 1.31547480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26318042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.59, Y:13.16, Z:0.03 [[ 9.49852226e-01 -3.12699135e-01 0.00000000e+00 1.59587849e+02] [ 3.12699135e-01 9.49852226e-01 0.00000000e+00 1.31630765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19256362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.61, Y:13.17, Z:0.03 [[ 9.50311476e-01 -3.11300657e-01 0.00000000e+00 1.59613858e+02] [ 3.11300657e-01 9.50311476e-01 0.00000000e+00 1.31725487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51810183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.64, Y:13.18, Z:0.02 [[ 9.50471003e-01 -3.10813245e-01 0.00000000e+00 1.59639451e+02] [ 3.10813245e-01 9.50471003e-01 0.00000000e+00 1.31812666e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42614743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.67, Y:13.19, Z:0.03 [[ 9.50839368e-01 -3.09684511e-01 0.00000000e+00 1.59666165e+02] [ 3.09684511e-01 9.50839368e-01 0.00000000e+00 1.31927622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92935794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.69, Y:13.20, Z:0.03 [[ 9.51194014e-01 -3.08593500e-01 0.00000000e+00 1.59691325e+02] [ 3.08593500e-01 9.51194014e-01 0.00000000e+00 1.32045219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00185529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.72, Y:13.21, Z:0.03 [[ 9.51241878e-01 -3.08445927e-01 0.00000000e+00 1.59717249e+02] [ 3.08445927e-01 9.51241878e-01 0.00000000e+00 1.32140170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83800236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.74, Y:13.22, Z:0.03 [[ 9.51274897e-01 -3.08344077e-01 0.00000000e+00 1.59744017e+02] [ 3.08344077e-01 9.51274897e-01 0.00000000e+00 1.32224258e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74721420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.77, Y:13.23, Z:0.03 [[ 9.51080745e-01 -3.08942415e-01 0.00000000e+00 1.59770030e+02] [ 3.08942415e-01 9.51080745e-01 0.00000000e+00 1.32316590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68430499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.80, Y:13.24, Z:0.03 [[ 9.50561014e-01 -3.10537853e-01 0.00000000e+00 1.59796762e+02] [ 3.10537853e-01 9.50561014e-01 0.00000000e+00 1.32424648e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56912149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.82, Y:13.25, Z:0.02 [[ 9.49825779e-01 -3.12779458e-01 0.00000000e+00 1.59823062e+02] [ 3.12779458e-01 9.49825779e-01 0.00000000e+00 1.32532892e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38213979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.85, Y:13.26, Z:0.02 [[ 9.49494822e-01 -3.13782700e-01 0.00000000e+00 1.59847903e+02] [ 3.13782700e-01 9.49494822e-01 0.00000000e+00 1.32629249e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27556807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.87, Y:13.27, Z:0.03 [[ 9.48989932e-01 -3.15306372e-01 0.00000000e+00 1.59874805e+02] [ 3.15306372e-01 9.48989932e-01 0.00000000e+00 1.32739301e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66803768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.90, Y:13.28, Z:0.03 [[ 9.48579545e-01 -3.16538857e-01 0.00000000e+00 1.59901222e+02] [ 3.16538857e-01 9.48579545e-01 0.00000000e+00 1.32822434e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69334534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.93, Y:13.29, Z:0.03 [[ 9.48323643e-01 -3.17304692e-01 0.00000000e+00 1.59927603e+02] [ 3.17304692e-01 9.48323643e-01 0.00000000e+00 1.32925866e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81747004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.95, Y:13.30, Z:0.03 [[ 9.48167966e-01 -3.17769583e-01 0.00000000e+00 1.59953604e+02] [ 3.17769583e-01 9.48167966e-01 0.00000000e+00 1.33025609e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90585408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.98, Y:13.31, Z:0.03 [[ 9.47973771e-01 -3.18348441e-01 0.00000000e+00 1.59980248e+02] [ 3.18348441e-01 9.47973771e-01 0.00000000e+00 1.33109094e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88263676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.01, Y:13.32, Z:0.03 [[ 9.47867622e-01 -3.18664355e-01 0.00000000e+00 1.60007157e+02] [ 3.18664355e-01 9.47867622e-01 0.00000000e+00 1.33195409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75156654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.03, Y:13.33, Z:0.03 [[ 9.47777170e-01 -3.18933280e-01 0.00000000e+00 1.60032997e+02] [ 3.18933280e-01 9.47777170e-01 0.00000000e+00 1.33264775e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69478570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.06, Y:13.34, Z:0.03 [[ 9.47783935e-01 -3.18913175e-01 0.00000000e+00 1.60058872e+02] [ 3.18913175e-01 9.47783935e-01 0.00000000e+00 1.33358167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91579795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.08, Y:13.35, Z:0.03 [[ 9.48146741e-01 -3.17832910e-01 0.00000000e+00 1.60084720e+02] [ 3.17832910e-01 9.48146741e-01 0.00000000e+00 1.33467755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87351822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.11, Y:13.36, Z:0.03 [[ 9.48632042e-01 -3.16381493e-01 0.00000000e+00 1.60111758e+02] [ 3.16381493e-01 9.48632042e-01 0.00000000e+00 1.33561078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68853440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.14, Y:13.36, Z:0.03 [[ 9.49063487e-01 -3.15084906e-01 0.00000000e+00 1.60136940e+02] [ 3.15084906e-01 9.49063487e-01 0.00000000e+00 1.33644420e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50517455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.16, Y:13.37, Z:0.02 [[ 9.49674731e-01 -3.13237777e-01 0.00000000e+00 1.60162821e+02] [ 3.13237777e-01 9.49674731e-01 0.00000000e+00 1.33731488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42628558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.19, Y:13.38, Z:0.02 [[ 9.49902119e-01 -3.12547538e-01 0.00000000e+00 1.60189475e+02] [ 3.12547538e-01 9.49902119e-01 0.00000000e+00 1.33834994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48623886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.21, Y:13.39, Z:0.02 [[ 9.50486063e-01 -3.10767186e-01 0.00000000e+00 1.60214800e+02] [ 3.10767186e-01 9.50486063e-01 0.00000000e+00 1.33946468e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08417894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.24, Y:13.40, Z:0.02 [[ 9.50460694e-01 -3.10844766e-01 0.00000000e+00 1.60242012e+02] [ 3.10844766e-01 9.50460694e-01 0.00000000e+00 1.34030691e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31845527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.27, Y:13.41, Z:0.02 [[ 9.50337796e-01 -3.11220297e-01 0.00000000e+00 1.60268754e+02] [ 3.11220297e-01 9.50337796e-01 0.00000000e+00 1.34128763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48593498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.29, Y:13.42, Z:0.02 [[ 9.50258577e-01 -3.11462096e-01 0.00000000e+00 1.60294125e+02] [ 3.11462096e-01 9.50258577e-01 0.00000000e+00 1.34238222e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45980367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.32, Y:13.43, Z:0.02 [[ 9.50129747e-01 -3.11854877e-01 0.00000000e+00 1.60320259e+02] [ 3.11854877e-01 9.50129747e-01 0.00000000e+00 1.34325179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17315343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.35, Y:13.44, Z:0.02 [[ 9.49507174e-01 -3.13745322e-01 0.00000000e+00 1.60348186e+02] [ 3.13745322e-01 9.49507174e-01 0.00000000e+00 1.34399351e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47024568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.37, Y:13.45, Z:0.03 [[ 9.49200162e-01 -3.14672929e-01 0.00000000e+00 1.60374953e+02] [ 3.14672929e-01 9.49200162e-01 0.00000000e+00 1.34490418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58734310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.40, Y:13.46, Z:0.03 [[ 9.48669177e-01 -3.16270126e-01 0.00000000e+00 1.60401420e+02] [ 3.16270126e-01 9.48669177e-01 0.00000000e+00 1.34593117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55454868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.43, Y:13.47, Z:0.02 [[ 9.48460135e-01 -3.16896469e-01 0.00000000e+00 1.60426050e+02] [ 3.16896469e-01 9.48460135e-01 0.00000000e+00 1.34693852e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42244561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.45, Y:13.48, Z:0.03 [[ 9.48257396e-01 -3.17502614e-01 0.00000000e+00 1.60452445e+02] [ 3.17502614e-01 9.48257396e-01 0.00000000e+00 1.34796450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62567457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.48, Y:13.49, Z:0.03 [[ 9.48529585e-01 -3.16688533e-01 0.00000000e+00 1.60479068e+02] [ 3.16688533e-01 9.48529585e-01 0.00000000e+00 1.34899722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52395439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.51, Y:13.50, Z:0.02 [[ 9.48772989e-01 -3.15958566e-01 0.00000000e+00 1.60505192e+02] [ 3.15958566e-01 9.48772989e-01 0.00000000e+00 1.34987297e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21110130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.53, Y:13.51, Z:0.02 [[ 9.49256346e-01 -3.14503402e-01 0.00000000e+00 1.60531838e+02] [ 3.14503402e-01 9.49256346e-01 0.00000000e+00 1.35064894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91319424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.56, Y:13.52, Z:0.02 [[ 9.49636512e-01 -3.13353626e-01 0.00000000e+00 1.60557823e+02] [ 3.13353626e-01 9.49636512e-01 0.00000000e+00 1.35185768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38804850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.58, Y:13.53, Z:0.02 [[ 9.49751094e-01 -3.13006166e-01 0.00000000e+00 1.60583234e+02] [ 3.13006166e-01 9.49751094e-01 0.00000000e+00 1.35290981e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31688849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.61, Y:13.54, Z:0.03 [[ 9.49733546e-01 -3.13059406e-01 0.00000000e+00 1.60610205e+02] [ 3.13059406e-01 9.49733546e-01 0.00000000e+00 1.35389944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59576237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.64, Y:13.55, Z:0.03 [[ 9.49276154e-01 -3.14443609e-01 0.00000000e+00 1.60637915e+02] [ 3.14443609e-01 9.49276154e-01 0.00000000e+00 1.35470220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68534922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.66, Y:13.55, Z:0.03 [[ 9.49028621e-01 -3.15189906e-01 0.00000000e+00 1.60664306e+02] [ 3.15189906e-01 9.49028621e-01 0.00000000e+00 1.35543799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62782257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.69, Y:13.56, Z:0.03 [[ 9.48722077e-01 -3.16111404e-01 0.00000000e+00 1.60692541e+02] [ 3.16111404e-01 9.48722077e-01 0.00000000e+00 1.35602700e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54517037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.72, Y:13.57, Z:0.02 [[ 9.48930704e-01 -3.15484577e-01 0.00000000e+00 1.60718051e+02] [ 3.15484577e-01 9.48930704e-01 0.00000000e+00 1.35680264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48606556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.74, Y:13.58, Z:0.03 [[ 9.49125061e-01 -3.14899378e-01 0.00000000e+00 1.60744238e+02] [ 3.14899378e-01 9.49125061e-01 0.00000000e+00 1.35778108e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59998321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.77, Y:13.59, Z:0.02 [[ 9.49827556e-01 -3.12774063e-01 0.00000000e+00 1.60771203e+02] [ 3.12774063e-01 9.49827556e-01 0.00000000e+00 1.35860964e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48816619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.80, Y:13.60, Z:0.03 [[ 9.50210077e-01 -3.11610027e-01 0.00000000e+00 1.60798083e+02] [ 3.11610027e-01 9.50210077e-01 0.00000000e+00 1.35952732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62599812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.83, Y:13.60, Z:0.03 [[ 9.51126055e-01 -3.08802894e-01 0.00000000e+00 1.60825222e+02] [ 3.08802894e-01 9.51126055e-01 0.00000000e+00 1.36027952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56887672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.85, Y:13.61, Z:0.03 [[ 9.51958634e-01 -3.06226647e-01 0.00000000e+00 1.60852127e+02] [ 3.06226647e-01 9.51958634e-01 0.00000000e+00 1.36108891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75639594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.88, Y:13.62, Z:0.03 [[ 9.52259305e-01 -3.05290381e-01 0.00000000e+00 1.60876941e+02] [ 3.05290381e-01 9.52259305e-01 0.00000000e+00 1.36212850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56870615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.90, Y:13.63, Z:0.03 [[ 9.52203229e-01 -3.05465237e-01 0.00000000e+00 1.60903571e+02] [ 3.05465237e-01 9.52203229e-01 0.00000000e+00 1.36313998e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56870615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.93, Y:13.64, Z:0.03 [[ 9.52899176e-01 -3.03287258e-01 0.00000000e+00 1.60929642e+02] [ 3.03287258e-01 9.52899176e-01 0.00000000e+00 1.36428786e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62531478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.96, Y:13.65, Z:0.03 [[ 9.53398005e-01 -3.01715501e-01 0.00000000e+00 1.60955474e+02] [ 3.01715501e-01 9.53398005e-01 0.00000000e+00 1.36518899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71347287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.98, Y:13.66, Z:0.02 [[ 9.53531545e-01 -3.01293201e-01 0.00000000e+00 1.60982178e+02] [ 3.01293201e-01 9.53531545e-01 0.00000000e+00 1.36618519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48025695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.01, Y:13.67, Z:0.02 [[ 9.53549894e-01 -3.01235125e-01 0.00000000e+00 1.61009698e+02] [ 3.01235125e-01 9.53549894e-01 0.00000000e+00 1.36717691e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95850476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.03, Y:13.69, Z:0.03 [[ 9.53396123e-01 -3.01721450e-01 0.00000000e+00 1.61034897e+02] [ 3.01721450e-01 9.53396123e-01 0.00000000e+00 1.36854120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53482978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.06, Y:13.70, Z:0.02 [[ 9.53296775e-01 -3.02035196e-01 0.00000000e+00 1.61059761e+02] [ 3.02035196e-01 9.53296775e-01 0.00000000e+00 1.36975995e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33845770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.09, Y:13.71, Z:0.02 [[ 9.52625481e-01 -3.04145842e-01 0.00000000e+00 1.61086813e+02] [ 3.04145842e-01 9.52625481e-01 0.00000000e+00 1.37073404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86595779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.11, Y:13.72, Z:0.02 [[ 9.51454522e-01 -3.07789364e-01 0.00000000e+00 1.61113138e+02] [ 3.07789364e-01 9.51454522e-01 0.00000000e+00 1.37159505e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96665781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.14, Y:13.73, Z:0.02 [[ 9.50670472e-01 -3.10202601e-01 0.00000000e+00 1.61138431e+02] [ 3.10202601e-01 9.50670472e-01 0.00000000e+00 1.37270213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19143107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.985336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.16, Y:13.74, Z:0.02 [[ 9.49078961e-01 -3.15038294e-01 0.00000000e+00 1.61163197e+02] [ 3.15038294e-01 9.49078961e-01 0.00000000e+00 1.37394731e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94031181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.19, Y:13.75, Z:0.02 [[ 9.48349333e-01 -3.17227904e-01 0.00000000e+00 1.61188825e+02] [ 3.17227904e-01 9.48349333e-01 0.00000000e+00 1.37493898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92227663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.045336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.22, Y:13.76, Z:0.02 [[ 9.47139597e-01 -3.20821733e-01 0.00000000e+00 1.61216059e+02] [ 3.20821733e-01 9.47139597e-01 0.00000000e+00 1.37580836e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32807959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.075336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.24, Y:13.77, Z:0.03 [[ 9.46115292e-01 -3.23829977e-01 0.00000000e+00 1.61244315e+02] [ 3.23829977e-01 9.46115292e-01 0.00000000e+00 1.37660224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51394281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.27, Y:13.78, Z:0.03 [[ 9.45522850e-01 -3.25555740e-01 0.00000000e+00 1.61270899e+02] [ 3.25555740e-01 9.45522850e-01 0.00000000e+00 1.37785490e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67447126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.30, Y:13.79, Z:0.03 [[ 9.45460328e-01 -3.25737268e-01 0.00000000e+00 1.61296363e+02] [ 3.25737268e-01 9.45460328e-01 0.00000000e+00 1.37896415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75912440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.165336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.32, Y:13.80, Z:0.02 [[ 9.45577528e-01 -3.25396893e-01 0.00000000e+00 1.61323745e+02] [ 3.25396893e-01 9.45577528e-01 0.00000000e+00 1.37967665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38343579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.35, Y:13.80, Z:0.02 [[ 9.45697452e-01 -3.25048194e-01 0.00000000e+00 1.61350973e+02] [ 3.25048194e-01 9.45697452e-01 0.00000000e+00 1.38043480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09920413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.225336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.38, Y:13.81, Z:0.02 [[ 9.46212620e-01 -3.23545480e-01 0.00000000e+00 1.61378564e+02] [ 3.23545480e-01 9.46212620e-01 0.00000000e+00 1.38126589e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01193315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.41, Y:13.82, Z:0.02 [[ 9.46488103e-01 -3.22738704e-01 0.00000000e+00 1.61405147e+02] [ 3.22738704e-01 9.46488103e-01 0.00000000e+00 1.38228250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05552488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.43, Y:13.83, Z:0.02 [[ 9.47076215e-01 -3.21008789e-01 0.00000000e+00 1.61431496e+02] [ 3.21008789e-01 9.47076215e-01 0.00000000e+00 1.38337454e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13454696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.46, Y:13.84, Z:0.02 [[ 9.47815559e-01 -3.18819174e-01 0.00000000e+00 1.61457706e+02] [ 3.18819174e-01 9.47815559e-01 0.00000000e+00 1.38433794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16992968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.48, Y:13.85, Z:0.02 [[ 9.48143529e-01 -3.17842489e-01 0.00000000e+00 1.61484912e+02] [ 3.17842489e-01 9.48143529e-01 0.00000000e+00 1.38515405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41572485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.51, Y:13.86, Z:0.03 [[ 9.48687712e-01 -3.16214523e-01 0.00000000e+00 1.61512425e+02] [ 3.16214523e-01 9.48687712e-01 0.00000000e+00 1.38590176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61267847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.54, Y:13.87, Z:0.02 [[ 9.49436485e-01 -3.13959170e-01 0.00000000e+00 1.61537624e+02] [ 3.13959170e-01 9.49436485e-01 0.00000000e+00 1.38717263e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49885507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.56, Y:13.88, Z:0.02 [[ 9.50080764e-01 -3.12004073e-01 0.00000000e+00 1.61563626e+02] [ 3.12004073e-01 9.50080764e-01 0.00000000e+00 1.38822143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04206363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.59, Y:13.89, Z:0.02 [[ 9.50282836e-01 -3.11388071e-01 0.00000000e+00 1.61591172e+02] [ 3.11388071e-01 9.50282836e-01 0.00000000e+00 1.38908713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13363240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.495336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.62, Y:13.90, Z:0.02 [[ 9.50829348e-01 -3.09715275e-01 0.00000000e+00 1.61617865e+02] [ 3.09715275e-01 9.50829348e-01 0.00000000e+00 1.38983876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86818758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.525336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.64, Y:13.91, Z:0.02 [[ 9.50983894e-01 -3.09240413e-01 0.00000000e+00 1.61643565e+02] [ 3.09240413e-01 9.50983894e-01 0.00000000e+00 1.39079918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74971775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.555336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.67, Y:13.92, Z:0.02 [[ 9.51093153e-01 -3.08904215e-01 0.00000000e+00 1.61669808e+02] [ 3.08904215e-01 9.51093153e-01 0.00000000e+00 1.39183485e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88436969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.585336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.70, Y:13.93, Z:0.02 [[ 9.50933806e-01 -3.09394404e-01 0.00000000e+00 1.61695819e+02] [ 3.09394404e-01 9.50933806e-01 0.00000000e+00 1.39312016e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12752939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.615336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.72, Y:13.94, Z:0.02 [[ 9.50671358e-01 -3.10199886e-01 0.00000000e+00 1.61722803e+02] [ 3.10199886e-01 9.50671358e-01 0.00000000e+00 1.39423083e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08644201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.645336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.75, Y:13.95, Z:0.02 [[ 9.50148187e-01 -3.11798689e-01 0.00000000e+00 1.61747892e+02] [ 3.11798689e-01 9.50148187e-01 0.00000000e+00 1.39509214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01427529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.675336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.77, Y:13.96, Z:0.02 [[ 9.49812185e-01 -3.12820736e-01 0.00000000e+00 1.61773722e+02] [ 3.12820736e-01 9.49812185e-01 0.00000000e+00 1.39608231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07568075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.705336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.80, Y:13.97, Z:0.02 [[ 9.49090414e-01 -3.15003789e-01 0.00000000e+00 1.61798882e+02] [ 3.15003789e-01 9.49090414e-01 0.00000000e+00 1.39721165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17989128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.735336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.82, Y:13.98, Z:0.02 [[ 9.48366264e-01 -3.17177285e-01 0.00000000e+00 1.61824905e+02] [ 3.17177285e-01 9.48366264e-01 0.00000000e+00 1.39838009e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22956022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.765336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.85, Y:13.99, Z:0.02 [[ 9.47988876e-01 -3.18303458e-01 0.00000000e+00 1.61850750e+02] [ 3.18303458e-01 9.47988876e-01 0.00000000e+00 1.39936012e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42997645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.795336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.88, Y:14.00, Z:0.02 [[ 9.47250805e-01 -3.20493233e-01 0.00000000e+00 1.61876362e+02] [ 3.20493233e-01 9.47250805e-01 0.00000000e+00 1.40017185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40184463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.825336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.90, Y:14.01, Z:0.03 [[ 9.46652763e-01 -3.22255404e-01 0.00000000e+00 1.61902449e+02] [ 3.22255404e-01 9.46652763e-01 0.00000000e+00 1.40138474e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58762779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.855336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.93, Y:14.02, Z:0.02 [[ 9.46393895e-01 -3.23014855e-01 0.00000000e+00 1.61928076e+02] [ 3.23014855e-01 9.46393895e-01 0.00000000e+00 1.40244569e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33462790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.885336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.96, Y:14.03, Z:0.02 [[ 9.46329521e-01 -3.23203400e-01 0.00000000e+00 1.61955178e+02] [ 3.23203400e-01 9.46329521e-01 0.00000000e+00 1.40343865e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37435186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.915336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.98, Y:14.04, Z:0.02 [[ 9.46389691e-01 -3.23027171e-01 0.00000000e+00 1.61981888e+02] [ 3.23027171e-01 9.46389691e-01 0.00000000e+00 1.40435625e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43263147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.945336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.01, Y:14.05, Z:0.03 [[ 9.46776356e-01 -3.21892112e-01 0.00000000e+00 1.62008336e+02] [ 3.21892112e-01 9.46776356e-01 0.00000000e+00 1.40516256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53030154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.975336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.04, Y:14.06, Z:0.03 [[ 9.46917074e-01 -3.21477922e-01 0.00000000e+00 1.62036134e+02] [ 3.21477922e-01 9.46917074e-01 0.00000000e+00 1.40608536e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78459519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.005336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.06, Y:14.07, Z:0.03 [[ 9.47053419e-01 -3.21076036e-01 0.00000000e+00 1.62062798e+02] [ 3.21076036e-01 9.47053419e-01 0.00000000e+00 1.40699362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74135253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.035336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.09, Y:14.08, Z:0.03 [[ 9.47122905e-01 -3.20871006e-01 0.00000000e+00 1.62089268e+02] [ 3.20871006e-01 9.47122905e-01 0.00000000e+00 1.40786939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85662345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.12, Y:14.09, Z:0.02 [[ 9.47571220e-01 -3.19544650e-01 0.00000000e+00 1.62116283e+02] [ 3.19544650e-01 9.47571220e-01 0.00000000e+00 1.40862869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44690129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.14, Y:14.10, Z:0.02 [[ 9.48090154e-01 -3.18001668e-01 0.00000000e+00 1.62143087e+02] [ 3.18001668e-01 9.48090154e-01 0.00000000e+00 1.40970825e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33630581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.17, Y:14.11, Z:0.02 [[ 9.49654925e-01 -3.13297818e-01 0.00000000e+00 1.62169917e+02] [ 3.13297818e-01 9.49654925e-01 0.00000000e+00 1.41082206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24385895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.20, Y:14.12, Z:0.02 [[ 9.51185874e-01 -3.08618589e-01 0.00000000e+00 1.62195965e+02] [ 3.08618589e-01 9.51185874e-01 0.00000000e+00 1.41189792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81508206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.22, Y:14.13, Z:0.02 [[ 9.51703044e-01 -3.07020058e-01 0.00000000e+00 1.62221188e+02] [ 3.07020058e-01 9.51703044e-01 0.00000000e+00 1.41301959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86268884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.25, Y:14.14, Z:0.02 [[ 9.52499784e-01 -3.04539261e-01 0.00000000e+00 1.62246452e+02] [ 3.04539261e-01 9.52499784e-01 0.00000000e+00 1.41414185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85032289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.245336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.27, Y:14.15, Z:0.02 [[ 9.52304749e-01 -3.05148595e-01 0.00000000e+00 1.62273478e+02] [ 3.05148595e-01 9.52304749e-01 0.00000000e+00 1.41508606e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30524198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.275336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.30, Y:14.16, Z:0.02 [[ 9.51871486e-01 -3.06497428e-01 0.00000000e+00 1.62299253e+02] [ 3.06497428e-01 9.51871486e-01 0.00000000e+00 1.41617749e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31353654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.305336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.33, Y:14.17, Z:0.02 [[ 9.50661885e-01 -3.10228916e-01 0.00000000e+00 1.62325844e+02] [ 3.10228916e-01 9.50661885e-01 0.00000000e+00 1.41742692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37134136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.335336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.35, Y:14.18, Z:0.02 [[ 9.49854986e-01 -3.12690751e-01 0.00000000e+00 1.62352171e+02] [ 3.12690751e-01 9.49854986e-01 0.00000000e+00 1.41843096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29853578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.365336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.38, Y:14.19, Z:0.02 [[ 9.48462200e-01 -3.16890288e-01 0.00000000e+00 1.62378318e+02] [ 3.16890288e-01 9.48462200e-01 0.00000000e+00 1.41906648e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04391146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.395336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.40, Y:14.20, Z:0.02 [[ 9.47919749e-01 -3.18509260e-01 0.00000000e+00 1.62404931e+02] [ 3.18509260e-01 9.47919749e-01 0.00000000e+00 1.41989266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21840146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.425336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.43, Y:14.21, Z:0.02 [[ 9.47207933e-01 -3.20619918e-01 0.00000000e+00 1.62430649e+02] [ 3.20619918e-01 9.47207933e-01 0.00000000e+00 1.42082966e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01683372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.455336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.46, Y:14.22, Z:0.02 [[ 9.46812502e-01 -3.21785777e-01 0.00000000e+00 1.62456451e+02] [ 3.21785777e-01 9.46812502e-01 0.00000000e+00 1.42201550e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37093967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.485336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.48, Y:14.23, Z:0.02 [[ 9.46731483e-01 -3.22024065e-01 0.00000000e+00 1.62482955e+02] [ 3.22024065e-01 9.46731483e-01 0.00000000e+00 1.42292765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27994462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.515336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.51, Y:14.23, Z:0.02 [[ 9.46839825e-01 -3.21705372e-01 0.00000000e+00 1.62510872e+02] [ 3.21705372e-01 9.46839825e-01 0.00000000e+00 1.42345671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21346721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.545336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.54, Y:14.24, Z:0.02 [[ 9.46953628e-01 -3.21370234e-01 0.00000000e+00 1.62536318e+02] [ 3.21370234e-01 9.46953628e-01 0.00000000e+00 1.42426377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13296614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.575336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.56, Y:14.25, Z:0.02 [[ 9.47350256e-01 -3.20199145e-01 0.00000000e+00 1.62562818e+02] [ 3.20199145e-01 9.47350256e-01 0.00000000e+00 1.42525725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31536487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.605336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.59, Y:14.26, Z:0.02 [[ 9.47288894e-01 -3.20380636e-01 0.00000000e+00 1.62589370e+02] [ 3.20380636e-01 9.47288894e-01 0.00000000e+00 1.42628971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31536487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.635336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.62, Y:14.27, Z:0.02 [[ 9.47581463e-01 -3.19514275e-01 0.00000000e+00 1.62615239e+02] [ 3.19514275e-01 9.47581463e-01 0.00000000e+00 1.42727723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31266872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.665336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.64, Y:14.28, Z:0.02 [[ 9.48092056e-01 -3.17995997e-01 0.00000000e+00 1.62641801e+02] [ 3.17995997e-01 9.48092056e-01 0.00000000e+00 1.42817092e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48042291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.695336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.67, Y:14.29, Z:0.02 [[ 9.48347871e-01 -3.17232273e-01 0.00000000e+00 1.62669156e+02] [ 3.17232273e-01 9.48347871e-01 0.00000000e+00 1.42913338e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46419189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.725336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.70, Y:14.30, Z:0.02 [[ 9.48404835e-01 -3.17061931e-01 0.00000000e+00 1.62695742e+02] [ 3.17061931e-01 9.48404835e-01 0.00000000e+00 1.43001457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96274456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.755336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.72, Y:14.31, Z:0.02 [[ 9.48427922e-01 -3.16992864e-01 0.00000000e+00 1.62723212e+02] [ 3.16992864e-01 9.48427922e-01 0.00000000e+00 1.43080325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93940523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.785336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.75, Y:14.32, Z:0.02 [[ 9.48409733e-01 -3.17047280e-01 0.00000000e+00 1.62749747e+02] [ 3.17047280e-01 9.48409733e-01 0.00000000e+00 1.43178118e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86585517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.78, Y:14.33, Z:0.02 [[ 9.48310226e-01 -3.17344790e-01 0.00000000e+00 1.62775975e+02] [ 3.17344790e-01 9.48310226e-01 0.00000000e+00 1.43307133e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18028786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.80, Y:14.34, Z:0.02 [[ 9.48291905e-01 -3.17399533e-01 0.00000000e+00 1.62800844e+02] [ 3.17399533e-01 9.48291905e-01 0.00000000e+00 1.43420863e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86729264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.83, Y:14.35, Z:0.02 [[ 9.48503996e-01 -3.16765164e-01 0.00000000e+00 1.62827081e+02] [ 3.16765164e-01 9.48503996e-01 0.00000000e+00 1.43505223e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73539871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.85, Y:14.36, Z:0.02 [[ 9.48611342e-01 -3.16443551e-01 0.00000000e+00 1.62853923e+02] [ 3.16443551e-01 9.48611342e-01 0.00000000e+00 1.43576182e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76944007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.88, Y:14.36, Z:0.02 [[ 9.48867566e-01 -3.15674424e-01 0.00000000e+00 1.62881765e+02] [ 3.15674424e-01 9.48867566e-01 0.00000000e+00 1.43634372e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02146279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.965336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.91, Y:14.38, Z:0.02 [[ 9.49420147e-01 -3.14008574e-01 0.00000000e+00 1.62907107e+02] [ 3.14008574e-01 9.49420147e-01 0.00000000e+00 1.43754231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75977418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.995336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.93, Y:14.39, Z:0.02 [[ 9.49749592e-01 -3.13010722e-01 0.00000000e+00 1.62932687e+02] [ 3.13010722e-01 9.49749592e-01 0.00000000e+00 1.43876354e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65856295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.025336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.96, Y:14.40, Z:0.02 [[ 9.49929733e-01 -3.12463602e-01 0.00000000e+00 1.62959298e+02] [ 3.12463602e-01 9.49929733e-01 0.00000000e+00 1.43981233e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69206731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.055336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.99, Y:14.41, Z:0.02 [[ 9.49782372e-01 -3.12911243e-01 0.00000000e+00 1.62985524e+02] [ 3.12911243e-01 9.49782372e-01 0.00000000e+00 1.44065541e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75647077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.085336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.01, Y:14.42, Z:0.02 [[ 9.49762174e-01 -3.12972544e-01 0.00000000e+00 1.63011302e+02] [ 3.12972544e-01 9.49762174e-01 0.00000000e+00 1.44159352e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61555295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.115336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.04, Y:14.43, Z:0.01 [[ 9.49762823e-01 -3.12970575e-01 0.00000000e+00 1.63037269e+02] [ 3.12970575e-01 9.49762823e-01 0.00000000e+00 1.44277159e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42136985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.145336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.06, Y:14.44, Z:0.01 [[ 9.49628706e-01 -3.13377283e-01 0.00000000e+00 1.63063091e+02] [ 3.13377283e-01 9.49628706e-01 0.00000000e+00 1.44379952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26683185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.175336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.09, Y:14.45, Z:0.01 [[ 9.49548748e-01 -3.13619475e-01 0.00000000e+00 1.63090465e+02] [ 3.13619475e-01 9.49548748e-01 0.00000000e+00 1.44478818e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48007756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.205336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.12, Y:14.46, Z:0.01 [[ 9.49504401e-01 -3.13753714e-01 0.00000000e+00 1.63115917e+02] [ 3.13753714e-01 9.49504401e-01 0.00000000e+00 1.44588561e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48978092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.235336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.14, Y:14.47, Z:0.01 [[ 9.49138560e-01 -3.14858690e-01 0.00000000e+00 1.63142100e+02] [ 3.14858690e-01 9.49138560e-01 0.00000000e+00 1.44703809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31178247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.265336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.17, Y:14.48, Z:0.01 [[ 9.48797918e-01 -3.15883700e-01 0.00000000e+00 1.63168130e+02] [ 3.15883700e-01 9.48797918e-01 0.00000000e+00 1.44815609e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32372446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.295336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.20, Y:14.49, Z:0.01 [[ 9.47900228e-01 -3.18567352e-01 0.00000000e+00 1.63195055e+02] [ 3.18567352e-01 9.47900228e-01 0.00000000e+00 1.44927768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44679230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.325336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.22, Y:14.50, Z:0.01 [[ 9.47142186e-01 -3.20814088e-01 0.00000000e+00 1.63221081e+02] [ 3.20814088e-01 9.47142186e-01 0.00000000e+00 1.45018542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16819390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.355336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.25, Y:14.51, Z:0.01 [[ 9.45650235e-01 -3.25185537e-01 0.00000000e+00 1.63247242e+02] [ 3.25185537e-01 9.45650235e-01 0.00000000e+00 1.45112094e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71172734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.385336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.27, Y:14.52, Z:0.01 [[ 9.45113394e-01 -3.26742516e-01 0.00000000e+00 1.63273610e+02] [ 3.26742516e-01 9.45113394e-01 0.00000000e+00 1.45227966e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.75979723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.415336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.30, Y:14.54, Z:0.01 [[ 9.44342620e-01 -3.28963547e-01 0.00000000e+00 1.63299090e+02] [ 3.28963547e-01 9.44342620e-01 0.00000000e+00 1.45364950e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.74939554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.445336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.33, Y:14.55, Z:0.00 [[ 9.44036351e-01 -3.29841427e-01 0.00000000e+00 1.63325087e+02] [ 3.29841427e-01 9.44036351e-01 0.00000000e+00 1.45475493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24592334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.475336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.35, Y:14.56, Z:0.00 [[ 9.43922025e-01 -3.30168459e-01 0.00000000e+00 1.63351083e+02] [ 3.30168459e-01 9.43922025e-01 0.00000000e+00 1.45572324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30722418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.505336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.38, Y:14.57, Z:0.01 [[ 9.43932371e-01 -3.30138879e-01 0.00000000e+00 1.63376479e+02] [ 3.30138879e-01 9.43932371e-01 0.00000000e+00 1.45681034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01289123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.535336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.40, Y:14.58, Z:0.01 [[ 9.43922610e-01 -3.30166786e-01 0.00000000e+00 1.63403367e+02] [ 3.30166786e-01 9.43922610e-01 0.00000000e+00 1.45797124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15086567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56533619500001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.43, Y:14.59, Z:0.00 [[ 9.44041034e-01 -3.29828026e-01 0.00000000e+00 1.63428657e+02] [ 3.29828026e-01 9.44041034e-01 0.00000000e+00 1.45913879e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19642320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.45, Y:14.60, Z:0.00 [[ 9.44006310e-01 -3.29927395e-01 0.00000000e+00 1.63454436e+02] [ 3.29927395e-01 9.44006310e-01 0.00000000e+00 1.46029586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08107235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.48, Y:14.62, Z:-0.00 [[ 9.44005397e-01 -3.29930008e-01 0.00000000e+00 1.63478611e+02] [ 3.29930008e-01 9.44005397e-01 0.00000000e+00 1.46153487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.48918451e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.51, Y:14.63, Z:0.00 [[ 9.44002719e-01 -3.29937672e-01 0.00000000e+00 1.63505075e+02] [ 3.29937672e-01 9.44002719e-01 0.00000000e+00 1.46260570e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95924417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.53, Y:14.64, Z:0.00 [[ 9.44356179e-01 -3.28924623e-01 0.00000000e+00 1.63530271e+02] [ 3.28924623e-01 9.44356179e-01 0.00000000e+00 1.46355069e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97940503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.715336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.56, Y:14.65, Z:0.00 [[ 9.44559946e-01 -3.28339016e-01 0.00000000e+00 1.63555773e+02] [ 3.28339016e-01 9.44559946e-01 0.00000000e+00 1.46468116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83405822e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.745336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.58, Y:14.66, Z:0.00 [[ 9.44645800e-01 -3.28091927e-01 0.00000000e+00 1.63581476e+02] [ 3.28091927e-01 9.44645800e-01 0.00000000e+00 1.46580584e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79255810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.775336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.61, Y:14.67, Z:0.01 [[ 9.44611803e-01 -3.28189794e-01 0.00000000e+00 1.63608613e+02] [ 3.28189794e-01 9.44611803e-01 0.00000000e+00 1.46684084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.87452703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.805336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.64, Y:14.68, Z:0.01 [[ 9.44479572e-01 -3.28570141e-01 0.00000000e+00 1.63635391e+02] [ 3.28570141e-01 9.44479572e-01 0.00000000e+00 1.46764302e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.30299276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.835336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.66, Y:14.68, Z:0.01 [[ 9.43909452e-01 -3.30204402e-01 0.00000000e+00 1.63662611e+02] [ 3.30204402e-01 9.43909452e-01 0.00000000e+00 1.46823255e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03613588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.865336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.69, Y:14.69, Z:0.01 [[ 9.43260981e-01 -3.32052288e-01 0.00000000e+00 1.63689364e+02] [ 3.32052288e-01 9.43260981e-01 0.00000000e+00 1.46919048e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.92013151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.895336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.72, Y:14.70, Z:0.01 [[ 9.43135448e-01 -3.32408674e-01 0.00000000e+00 1.63716469e+02] [ 3.32408674e-01 9.43135448e-01 0.00000000e+00 1.47027328e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08664820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.925336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.74, Y:14.71, Z:0.01 [[ 9.43523259e-01 -3.31306292e-01 0.00000000e+00 1.63742942e+02] [ 3.31306292e-01 9.43523259e-01 0.00000000e+00 1.47120725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77624470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.955336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.77, Y:14.72, Z:0.01 [[ 9.43929424e-01 -3.30147305e-01 0.00000000e+00 1.63770508e+02] [ 3.30147305e-01 9.43929424e-01 0.00000000e+00 1.47212235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.34169854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.985336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:163.80, Y:14.73, Z:0.01 [[ 9.45206332e-01 -3.26473568e-01 0.00000000e+00 1.63797523e+02] [ 3.26473568e-01 9.45206332e-01 0.00000000e+00 1.47294149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09958421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.015336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.82, Y:14.74, Z:0.01 [[ 9.45941494e-01 -3.24337309e-01 0.00000000e+00 1.63824188e+02] [ 3.24337309e-01 9.45941494e-01 0.00000000e+00 1.47396691e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04161118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.045336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.85, Y:14.75, Z:0.01 [[ 9.47370183e-01 -3.20140182e-01 0.00000000e+00 1.63851166e+02] [ 3.20140182e-01 9.47370183e-01 0.00000000e+00 1.47513171e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.18964663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.075336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:163.88, Y:14.76, Z:0.01 [[ 9.48020444e-01 -3.18209424e-01 0.00000000e+00 1.63876299e+02] [ 3.18209424e-01 9.48020444e-01 0.00000000e+00 1.47627905e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47842608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.105336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.90, Y:14.78, Z:0.01 [[ 9.48865546e-01 -3.15680495e-01 0.00000000e+00 1.63901039e+02] [ 3.15680495e-01 9.48865546e-01 0.00000000e+00 1.47767597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.05438258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.135336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.93, Y:14.79, Z:0.00 [[ 9.49296761e-01 -3.14381390e-01 0.00000000e+00 1.63925885e+02] [ 3.14381390e-01 9.49296761e-01 0.00000000e+00 1.47896307e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93327891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.165336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.95, Y:14.80, Z:0.01 [[ 9.49311861e-01 -3.14335792e-01 0.00000000e+00 1.63951666e+02] [ 3.14335792e-01 9.49311861e-01 0.00000000e+00 1.48007899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.55461468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.195336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.98, Y:14.81, Z:0.01 [[ 9.49143893e-01 -3.14842612e-01 0.00000000e+00 1.63977307e+02] [ 3.14842612e-01 9.49143893e-01 0.00000000e+00 1.48106620e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.70238620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.225336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:164.00, Y:14.82, Z:0.01 [[ 9.48845791e-01 -3.15739871e-01 0.00000000e+00 1.64003912e+02] [ 3.15739871e-01 9.48845791e-01 0.00000000e+00 1.48206966e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11167581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.255336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.03, Y:14.83, Z:0.01 [[ 9.48187445e-01 -3.17711457e-01 0.00000000e+00 1.64029272e+02] [ 3.17711457e-01 9.48187445e-01 0.00000000e+00 1.48325354e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.34436488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.285336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.06, Y:14.84, Z:0.01 [[ 9.47775356e-01 -3.18938669e-01 0.00000000e+00 1.64055279e+02] [ 3.18938669e-01 9.47775356e-01 0.00000000e+00 1.48436822e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94205569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31533619500001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:164.08, Y:14.85, Z:0.01 [[ 9.46910548e-01 -3.21497145e-01 0.00000000e+00 1.64080409e+02] [ 3.21497145e-01 9.46910548e-01 0.00000000e+00 1.48525757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.68903277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34533619500002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:164.11, Y:14.86, Z:0.01 [[ 9.45710990e-01 -3.25008806e-01 0.00000000e+00 1.64107254e+02] [ 3.25008806e-01 9.45710990e-01 0.00000000e+00 1.48642571e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.41723262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37533619500002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:164.13, Y:14.88, Z:0.01 [[ 9.45042840e-01 -3.26946524e-01 0.00000000e+00 1.64133581e+02] [ 3.26946524e-01 9.45042840e-01 0.00000000e+00 1.48752678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19649349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40533619500002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:164.16, Y:14.89, Z:0.01 [[ 9.43680492e-01 -3.30858172e-01 0.00000000e+00 1.64159430e+02] [ 3.30858172e-01 9.43680492e-01 0.00000000e+00 1.48855560e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14972777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43533619500002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.19, Y:14.89, Z:0.01 [[ 9.42493562e-01 -3.34224305e-01 0.00000000e+00 1.64186837e+02] [ 3.34224305e-01 9.42493562e-01 0.00000000e+00 1.48945500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33543336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.465336195 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.21, Y:14.91, Z:0.01 [[ 9.42429240e-01 -3.34405634e-01 0.00000000e+00 1.64213304e+02] [ 3.34405634e-01 9.42429240e-01 0.00000000e+00 1.49050831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33543336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.495336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.24, Y:14.91, Z:0.01 [[ 9.41901795e-01 -3.35888388e-01 0.00000000e+00 1.64238776e+02] [ 3.35888388e-01 9.41901795e-01 0.00000000e+00 1.49129113e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15129264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.525336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.27, Y:14.92, Z:0.01 [[ 9.41382759e-01 -3.37340335e-01 0.00000000e+00 1.64266319e+02] [ 3.37340335e-01 9.41382759e-01 0.00000000e+00 1.49213495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38388034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.555336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:164.29, Y:14.93, Z:0.02 [[ 9.41358456e-01 -3.37408146e-01 0.00000000e+00 1.64291794e+02] [ 3.37408146e-01 9.41358456e-01 0.00000000e+00 1.49319526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59483909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.585336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:164.32, Y:14.94, Z:0.02 [[ 9.42197188e-01 -3.35058890e-01 0.00000000e+00 1.64316586e+02] [ 3.35058890e-01 9.42197188e-01 0.00000000e+00 1.49431399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56256335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.615336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:164.34, Y:14.95, Z:0.01 [[ 9.42791041e-01 -3.33384241e-01 0.00000000e+00 1.64342810e+02] [ 3.33384241e-01 9.42791041e-01 0.00000000e+00 1.49529043e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42383525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.645336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.37, Y:14.96, Z:0.01 [[ 9.44034673e-01 -3.29846232e-01 0.00000000e+00 1.64369676e+02] [ 3.29846232e-01 9.44034673e-01 0.00000000e+00 1.49604901e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06250881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.675336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.40, Y:14.97, Z:0.01 [[ 9.44688557e-01 -3.27968794e-01 0.00000000e+00 1.64395468e+02] [ 3.27968794e-01 9.44688557e-01 0.00000000e+00 1.49712447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07976571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.705336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:164.42, Y:14.98, Z:0.01 [[ 9.44780793e-01 -3.27702994e-01 0.00000000e+00 1.64421226e+02] [ 3.27702994e-01 9.44780793e-01 0.00000000e+00 1.49825360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20969867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.735336195 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:164.45, Y:14.99, Z:0.01 [[ 9.44765994e-01 -3.27745658e-01 0.00000000e+00 1.64447885e+02] [ 3.27745658e-01 9.44765994e-01 0.00000000e+00 1.49918042e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.58696231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.765336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.47, Y:15.00, Z:0.01 [[ 9.44723020e-01 -3.27869511e-01 0.00000000e+00 1.64474848e+02] [ 3.27869511e-01 9.44723020e-01 0.00000000e+00 1.50010948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.06233174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.795336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:164.50, Y:15.01, Z:0.01 [[ 9.44430758e-01 -3.28710426e-01 0.00000000e+00 1.64502585e+02] [ 3.28710426e-01 9.44430758e-01 0.00000000e+00 1.50102834e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.23234874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.825336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.53, Y:15.02, Z:0.01 [[ 9.44203151e-01 -3.29363644e-01 0.00000000e+00 1.64528640e+02] [ 3.29363644e-01 9.44203151e-01 0.00000000e+00 1.50196751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03430392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.855336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.55, Y:15.03, Z:0.01 [[ 9.44135830e-01 -3.29556574e-01 0.00000000e+00 1.64554589e+02] [ 3.29556574e-01 9.44135830e-01 0.00000000e+00 1.50285733e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.17898080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.885336195 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:164.58, Y:15.04, Z:0.01 [[ 9.44139584e-01 -3.29545818e-01 0.00000000e+00 1.64581562e+02] [ 3.29545818e-01 9.44139584e-01 0.00000000e+00 1.50378591e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.75987714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.915336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.61, Y:15.04, Z:0.01 [[ 9.44295778e-01 -3.29097984e-01 0.00000000e+00 1.64609360e+02] [ 3.29097984e-01 9.44295778e-01 0.00000000e+00 1.50442457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.77123402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.945336195 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:164.64, Y:15.06, Z:0.01 [[ 9.44636895e-01 -3.28117565e-01 0.00000000e+00 1.64635847e+02] [ 3.28117565e-01 9.44636895e-01 0.00000000e+00 1.50551895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68994289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.975336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:164.66, Y:15.07, Z:0.01 [[ 9.44841883e-01 -3.27526816e-01 0.00000000e+00 1.64662113e+02] [ 3.27526816e-01 9.44841883e-01 0.00000000e+00 1.50665042e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28432848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.005336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:164.69, Y:15.07, Z:0.00 [[ 9.45449231e-01 -3.25769475e-01 0.00000000e+00 1.64689295e+02] [ 3.25769475e-01 9.45449231e-01 0.00000000e+00 1.50742792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70802839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.035336195 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:164.72, Y:15.08, Z:0.01 [[ 9.45649626e-01 -3.25187307e-01 0.00000000e+00 1.64717310e+02] [ 3.25187307e-01 9.45649626e-01 0.00000000e+00 1.50828099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09392342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06533619500001 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:164.75, Y:15.09, Z:0.01 [[ 9.45756778e-01 -3.24875541e-01 0.00000000e+00 1.64745198e+02] [ 3.24875541e-01 9.45756778e-01 0.00000000e+00 1.50917333e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.06601158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09533619500002 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:164.77, Y:15.10, Z:0.01 [[ 9.45562435e-01 -3.25440750e-01 0.00000000e+00 1.64770815e+02] [ 3.25440750e-01 9.45562435e-01 0.00000000e+00 1.51029975e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.13593151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12533619500002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:164.80, Y:15.12, Z:0.01 [[ 9.44811857e-01 -3.27613422e-01 0.00000000e+00 1.64796565e+02] [ 3.27613422e-01 9.44811857e-01 0.00000000e+00 1.51164621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.89802084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15533619500002 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:164.82, Y:15.13, Z:0.00 [[ 9.44339393e-01 -3.28972812e-01 0.00000000e+00 1.64822919e+02] [ 3.28972812e-01 9.44339393e-01 0.00000000e+00 1.51267381e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77244921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18533619500002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:164.85, Y:15.13, Z:0.00 [[ 9.43346863e-01 -3.31808221e-01 0.00000000e+00 1.64850387e+02] [ 3.31808221e-01 9.43346863e-01 0.00000000e+00 1.51335553e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24274021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.215336195 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:164.88, Y:15.14, Z:0.00 [[ 9.42668537e-01 -3.33730475e-01 0.00000000e+00 1.64876805e+02] [ 3.33730475e-01 9.42668537e-01 0.00000000e+00 1.51414183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19084495e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.245336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:164.90, Y:15.15, Z:-0.00 [[ 9.42509031e-01 -3.34180679e-01 0.00000000e+00 1.64902741e+02] [ 3.34180679e-01 9.42509031e-01 0.00000000e+00 1.51530130e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.00199760e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.275336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:164.93, Y:15.17, Z:0.01 [[ 9.42338243e-01 -3.34661971e-01 0.00000000e+00 1.64928123e+02] [ 3.34661971e-01 9.42338243e-01 0.00000000e+00 1.51683248e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81296448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.305336195 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:164.95, Y:15.18, Z:0.00 [[ 9.42190834e-01 -3.35076755e-01 0.00000000e+00 1.64953065e+02] [ 3.35076755e-01 9.42190834e-01 0.00000000e+00 1.51798128e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31562734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.335336195 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.98, Y:15.19, Z:0.00 [[ 9.42006511e-01 -3.35594597e-01 0.00000000e+00 1.64980414e+02] [ 3.35594597e-01 9.42006511e-01 0.00000000e+00 1.51901293e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68806778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.365336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:165.01, Y:15.20, Z:0.00 [[ 9.42067331e-01 -3.35423828e-01 0.00000000e+00 1.65005846e+02] [ 3.35423828e-01 9.42067331e-01 0.00000000e+00 1.51989015e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36145875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.395336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:165.03, Y:15.21, Z:0.00 [[ 9.42150015e-01 -3.35191513e-01 0.00000000e+00 1.65032052e+02] [ 3.35191513e-01 9.42150015e-01 0.00000000e+00 1.52091548e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66655713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.425336195 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:165.06, Y:15.22, Z:0.00 [[ 9.42093571e-01 -3.35350121e-01 0.00000000e+00 1.65056850e+02] [ 3.35350121e-01 9.42093571e-01 0.00000000e+00 1.52217242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01252237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.455336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:165.08, Y:15.24, Z:0.00 [[ 9.42187471e-01 -3.35086213e-01 0.00000000e+00 1.65080786e+02] [ 3.35086213e-01 9.42187471e-01 0.00000000e+00 1.52398790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36717640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.485336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:165.11, Y:15.25, Z:-0.00 [[ 9.42501015e-01 -3.34203286e-01 0.00000000e+00 1.65105218e+02] [ 3.34203286e-01 9.42501015e-01 0.00000000e+00 1.52534690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91930768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.515336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:165.13, Y:15.26, Z:-0.00 [[ 9.42549808e-01 -3.34065652e-01 0.00000000e+00 1.65132444e+02] [ 3.34065652e-01 9.42549808e-01 0.00000000e+00 1.52631201e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06696142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.545336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:165.16, Y:15.27, Z:-0.00 [[ 9.42316056e-01 -3.34724440e-01 0.00000000e+00 1.65159642e+02] [ 3.34724440e-01 9.42316056e-01 0.00000000e+00 1.52697513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12290058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.575336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:165.18, Y:15.28, Z:0.00 [[ 9.41912627e-01 -3.35858009e-01 0.00000000e+00 1.65184748e+02] [ 3.35858009e-01 9.41912627e-01 0.00000000e+00 1.52811109e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.61876900e-07] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.605336195 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:165.21, Y:15.30, Z:0.00 [[ 9.40862572e-01 -3.38788460e-01 0.00000000e+00 1.65207290e+02] [ 3.38788460e-01 9.40862572e-01 0.00000000e+00 1.52983941e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97495725e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.635336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:165.23, Y:15.31, Z:0.00 [[ 9.40022307e-01 -3.41112977e-01 0.00000000e+00 1.65232597e+02] [ 3.41112977e-01 9.40022307e-01 0.00000000e+00 1.53114734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00889856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.665336195 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:165.26, Y:15.32, Z:0.00 [[ 9.39470399e-01 -3.42630076e-01 0.00000000e+00 1.65257970e+02] [ 3.42630076e-01 9.39470399e-01 0.00000000e+00 1.53198833e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80351862e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.695336195 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:165.28, Y:15.33, Z:-0.00 [[ 9.38256527e-01 -3.45940298e-01 0.00000000e+00 1.65284762e+02] [ 3.45940298e-01 9.38256527e-01 0.00000000e+00 1.53284792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24733787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.725336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:165.31, Y:15.34, Z:-0.00 [[ 9.37237772e-01 -3.48690921e-01 0.00000000e+00 1.65310918e+02] [ 3.48690921e-01 9.37237772e-01 0.00000000e+00 1.53406634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10433225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.755336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:165.34, Y:15.35, Z:-0.01 [[ 9.36843196e-01 -3.49749663e-01 0.00000000e+00 1.65335974e+02] [ 3.49749663e-01 9.36843196e-01 0.00000000e+00 1.53517985e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.39652358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.785336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:165.36, Y:15.37, Z:-0.00 [[ 9.36135177e-01 -3.51640341e-01 0.00000000e+00 1.65362091e+02] [ 3.51640341e-01 9.36135177e-01 0.00000000e+00 1.53652155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15296254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81533619500001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:165.39, Y:15.38, Z:0.00 [[ 9.35844379e-01 -3.52413532e-01 0.00000000e+00 1.65387840e+02] [ 3.52413532e-01 9.35844379e-01 0.00000000e+00 1.53753874e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71454970e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84533619500002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:165.42, Y:15.38, Z:0.00 [[ 9.35262971e-01 -3.53953633e-01 0.00000000e+00 1.65416501e+02] [ 3.53953633e-01 9.35262971e-01 0.00000000e+00 1.53812263e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94697685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87533619500002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:165.44, Y:15.39, Z:0.01 [[ 9.34931511e-01 -3.54828227e-01 0.00000000e+00 1.65443632e+02] [ 3.54828227e-01 9.34931511e-01 0.00000000e+00 1.53913166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.55815227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90533619500002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:165.47, Y:15.40, Z:0.01 [[ 9.34652534e-01 -3.55562428e-01 0.00000000e+00 1.65469234e+02] [ 3.55562428e-01 9.34652534e-01 0.00000000e+00 1.54041090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.22785314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93533619500002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:165.50, Y:15.41, Z:0.00 [[ 9.34813594e-01 -3.55138767e-01 0.00000000e+00 1.65495627e+02] [ 3.55138767e-01 9.34813594e-01 0.00000000e+00 1.54130111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63120048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.965336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:165.52, Y:15.42, Z:0.00 [[ 9.35272503e-01 -3.53928446e-01 0.00000000e+00 1.65523515e+02] [ 3.53928446e-01 9.35272503e-01 0.00000000e+00 1.54186067e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.21108317e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.995336195 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:165.55, Y:15.43, Z:-0.00 [[ 9.36036269e-01 -3.51903542e-01 0.00000000e+00 1.65550411e+02] [ 3.51903542e-01 9.36036269e-01 0.00000000e+00 1.54287059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83001362e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.025336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:165.58, Y:15.44, Z:0.00 [[ 9.36280158e-01 -3.51254133e-01 0.00000000e+00 1.65577274e+02] [ 3.51254133e-01 9.36280158e-01 0.00000000e+00 1.54380003e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59870243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.055336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:165.60, Y:15.45, Z:-0.00 [[ 9.36992864e-01 -3.49348497e-01 0.00000000e+00 1.65604154e+02] [ 3.49348497e-01 9.36992864e-01 0.00000000e+00 1.54462303e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32992660e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.085336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:165.63, Y:15.46, Z:-0.00 [[ 9.37866948e-01 -3.46995084e-01 0.00000000e+00 1.65630138e+02] [ 3.46995084e-01 9.37866948e-01 0.00000000e+00 1.54557100e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.12492981e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.115336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:165.66, Y:15.47, Z:0.00 [[ 9.38255923e-01 -3.45941935e-01 0.00000000e+00 1.65656815e+02] [ 3.45941935e-01 9.38255923e-01 0.00000000e+00 1.54650695e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08626378e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.145336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:165.68, Y:15.48, Z:-0.00 [[ 9.39156337e-01 -3.43489991e-01 0.00000000e+00 1.65682565e+02] [ 3.43489991e-01 9.39156337e-01 0.00000000e+00 1.54750837e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00412485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.175336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:165.71, Y:15.49, Z:-0.00 [[ 9.39558850e-01 -3.42387453e-01 0.00000000e+00 1.65708170e+02] [ 3.42387453e-01 9.39558850e-01 0.00000000e+00 1.54865591e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32336768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.205336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:165.73, Y:15.50, Z:-0.00 [[ 9.39995692e-01 -3.41186311e-01 0.00000000e+00 1.65734370e+02] [ 3.41186311e-01 9.39995692e-01 0.00000000e+00 1.54975585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.46716552e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.235336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.76, Y:15.51, Z:-0.00 [[ 9.40177548e-01 -3.40684866e-01 0.00000000e+00 1.65760119e+02] [ 3.40684866e-01 9.40177548e-01 0.00000000e+00 1.55083869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78660865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.265336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:165.79, Y:15.52, Z:-0.00 [[ 9.40153486e-01 -3.40751262e-01 0.00000000e+00 1.65785555e+02] [ 3.40751262e-01 9.40153486e-01 0.00000000e+00 1.55197613e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64803036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.295336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:165.81, Y:15.53, Z:-0.00 [[ 9.39787935e-01 -3.41758156e-01 0.00000000e+00 1.65811632e+02] [ 3.41758156e-01 9.39787935e-01 0.00000000e+00 1.55303599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.58220239e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.325336195 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:165.84, Y:15.54, Z:-0.00 [[ 9.39364074e-01 -3.42921472e-01 0.00000000e+00 1.65837974e+02] [ 3.42921472e-01 9.39364074e-01 0.00000000e+00 1.55402037e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88946823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.355336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:165.86, Y:15.55, Z:-0.00 [[ 9.38478679e-01 -3.45337182e-01 0.00000000e+00 1.65864694e+02] [ 3.45337182e-01 9.38478679e-01 0.00000000e+00 1.55512027e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.35266266e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.385336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:165.89, Y:15.56, Z:0.00 [[ 9.37962217e-01 -3.46737479e-01 0.00000000e+00 1.65889455e+02] [ 3.46737479e-01 9.37962217e-01 0.00000000e+00 1.55630058e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00012612e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.415336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:165.92, Y:15.57, Z:0.00 [[ 9.37897854e-01 -3.46911539e-01 0.00000000e+00 1.65915827e+02] [ 3.46911539e-01 9.37897854e-01 0.00000000e+00 1.55737795e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00012612e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.445336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:165.94, Y:15.59, Z:0.00 [[ 9.36923391e-01 -3.49534777e-01 0.00000000e+00 1.65940774e+02] [ 3.49534777e-01 9.36923391e-01 0.00000000e+00 1.55862418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39959838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.475336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:165.97, Y:15.60, Z:0.01 [[ 9.35455409e-01 -3.53444731e-01 0.00000000e+00 1.65967269e+02] [ 3.53444731e-01 9.35455409e-01 0.00000000e+00 1.55962411e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02132652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.505336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:165.99, Y:15.61, Z:0.01 [[ 9.34597990e-01 -3.55705772e-01 0.00000000e+00 1.65993608e+02] [ 3.55705772e-01 9.34597990e-01 0.00000000e+00 1.56060409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03501348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.535336195 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:166.02, Y:15.62, Z:0.01 [[ 9.33296951e-01 -3.59105557e-01 0.00000000e+00 1.66021419e+02] [ 3.59105557e-01 9.33296951e-01 0.00000000e+00 1.56150311e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01317996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56533619500001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:166.05, Y:15.63, Z:0.00 [[ 9.32842058e-01 -3.60285574e-01 0.00000000e+00 1.66046492e+02] [ 3.60285574e-01 9.32842058e-01 0.00000000e+00 1.56266782e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97535537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59533619500002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:166.07, Y:15.64, Z:0.01 [[ 9.32330545e-01 -3.61607184e-01 0.00000000e+00 1.66072249e+02] [ 3.61607184e-01 9.32330545e-01 0.00000000e+00 1.56406921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42484297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62533619500002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:166.10, Y:15.65, Z:0.01 [[ 9.32251805e-01 -3.61810131e-01 0.00000000e+00 1.66099767e+02] [ 3.61810131e-01 9.32251805e-01 0.00000000e+00 1.56467442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09913005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65533619500002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:166.13, Y:15.65, Z:0.00 [[ 9.32129975e-01 -3.62123887e-01 0.00000000e+00 1.66126549e+02] [ 3.62123887e-01 9.32129975e-01 0.00000000e+00 1.56540153e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99275184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68533619500002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:166.15, Y:15.66, Z:0.00 [[ 9.32181446e-01 -3.61991370e-01 0.00000000e+00 1.66153208e+02] [ 3.61991370e-01 9.32181446e-01 0.00000000e+00 1.56639103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78205994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.715336195 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:166.18, Y:15.68, Z:0.00 [[ 9.32191678e-01 -3.61965020e-01 0.00000000e+00 1.66177913e+02] [ 3.61965020e-01 9.32191678e-01 0.00000000e+00 1.56768925e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21765325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.745336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:166.20, Y:15.69, Z:0.00 [[ 9.32378383e-01 -3.61483817e-01 0.00000000e+00 1.66203306e+02] [ 3.61483817e-01 9.32378383e-01 0.00000000e+00 1.56899896e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73280342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.775336195 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:166.23, Y:15.70, Z:0.00 [[ 9.32515970e-01 -3.61128739e-01 0.00000000e+00 1.66229925e+02] [ 3.61128739e-01 9.32515970e-01 0.00000000e+00 1.56986287e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.42644565e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.805336195 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:166.26, Y:15.70, Z:-0.00 [[ 9.33057197e-01 -3.59728047e-01 0.00000000e+00 1.66259417e+02] [ 3.59728047e-01 9.33057197e-01 0.00000000e+00 1.57029388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96298606e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.835336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:166.29, Y:15.71, Z:0.00 [[ 9.33838162e-01 -3.57695802e-01 0.00000000e+00 1.66286684e+02] [ 3.57695802e-01 9.33838162e-01 0.00000000e+00 1.57124742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92722051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.865336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:166.31, Y:15.72, Z:0.00 [[ 9.34186731e-01 -3.56784461e-01 0.00000000e+00 1.66312357e+02] [ 3.56784461e-01 9.34186731e-01 0.00000000e+00 1.57242094e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65483226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.895336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:166.34, Y:15.74, Z:0.00 [[ 9.35040645e-01 -3.54540537e-01 0.00000000e+00 1.66337708e+02] [ 3.54540537e-01 9.35040645e-01 0.00000000e+00 1.57354805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.79523294e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.925336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:166.36, Y:15.75, Z:0.00 [[ 9.35464990e-01 -3.53419373e-01 0.00000000e+00 1.66363872e+02] [ 3.53419373e-01 9.35464990e-01 0.00000000e+00 1.57451513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23383378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.955336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:166.39, Y:15.75, Z:0.00 [[ 9.36261368e-01 -3.51304214e-01 0.00000000e+00 1.66391936e+02] [ 3.51304214e-01 9.36261368e-01 0.00000000e+00 1.57521263e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36220016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.985336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:166.42, Y:15.76, Z:0.01 [[ 9.36536375e-01 -3.50570418e-01 0.00000000e+00 1.66418280e+02] [ 3.50570418e-01 9.36536375e-01 0.00000000e+00 1.57606396e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68900114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.015336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:166.44, Y:15.77, Z:0.01 [[ 9.37008614e-01 -3.49306252e-01 0.00000000e+00 1.66444160e+02] [ 3.49306252e-01 9.37008614e-01 0.00000000e+00 1.57708253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65106335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.045336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:166.47, Y:15.78, Z:0.01 [[ 9.37335629e-01 -3.48427780e-01 0.00000000e+00 1.66469797e+02] [ 3.48427780e-01 9.37335629e-01 0.00000000e+00 1.57817778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42725702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.075336195 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:166.50, Y:15.79, Z:0.01 [[ 9.37185511e-01 -3.48831360e-01 0.00000000e+00 1.66497496e+02] [ 3.48831360e-01 9.37185511e-01 0.00000000e+00 1.57914043e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.58626680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.105336195 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:166.52, Y:15.80, Z:0.01 [[ 9.36871627e-01 -3.49673497e-01 0.00000000e+00 1.66524711e+02] [ 3.49673497e-01 9.36871627e-01 0.00000000e+00 1.57984032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30833280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.135336195 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:166.55, Y:15.81, Z:0.01 [[ 9.36457860e-01 -3.50780098e-01 0.00000000e+00 1.66551617e+02] [ 3.50780098e-01 9.36457860e-01 0.00000000e+00 1.58073570e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07565242e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.165336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:166.58, Y:15.82, Z:0.01 [[ 9.36135649e-01 -3.51639085e-01 0.00000000e+00 1.66577805e+02] [ 3.51639085e-01 9.36135649e-01 0.00000000e+00 1.58177340e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64989701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.195336195 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:166.60, Y:15.83, Z:-0.00 [[ 9.35963354e-01 -3.52097430e-01 0.00000000e+00 1.66604296e+02] [ 3.52097430e-01 9.35963354e-01 0.00000000e+00 1.58268862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81869759e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.225336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:166.63, Y:15.84, Z:-0.00 [[ 9.36000961e-01 -3.51997445e-01 0.00000000e+00 1.66631009e+02] [ 3.51997445e-01 9.36000961e-01 0.00000000e+00 1.58377773e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70818458e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.255336195 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:166.66, Y:15.85, Z:0.00 [[ 9.36080259e-01 -3.51786511e-01 0.00000000e+00 1.66657323e+02] [ 3.51786511e-01 9.36080259e-01 0.00000000e+00 1.58484366e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83796158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.285336195 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:166.68, Y:15.86, Z:0.00 [[ 9.36026525e-01 -3.51929459e-01 0.00000000e+00 1.66683022e+02] [ 3.51929459e-01 9.36026525e-01 0.00000000e+00 1.58578857e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12795124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31533619500001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:166.71, Y:15.87, Z:0.00 [[ 9.35904411e-01 -3.52254075e-01 0.00000000e+00 1.66707570e+02] [ 3.52254075e-01 9.35904411e-01 0.00000000e+00 1.58697214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89042578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34533619500002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:166.73, Y:15.88, Z:0.00 [[ 9.35683374e-01 -3.52840791e-01 0.00000000e+00 1.66733508e+02] [ 3.52840791e-01 9.35683374e-01 0.00000000e+00 1.58833127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.42092549e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37533619500002 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:166.76, Y:15.89, Z:0.00 [[ 9.35607174e-01 -3.53042796e-01 0.00000000e+00 1.66759229e+02] [ 3.53042796e-01 9.35607174e-01 0.00000000e+00 1.58946415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23947079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40533619500002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:166.79, Y:15.91, Z:-0.00 [[ 9.35480013e-01 -3.53379604e-01 0.00000000e+00 1.66785162e+02] [ 3.53379604e-01 9.35480013e-01 0.00000000e+00 1.59069509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52634646e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43533619500002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:166.81, Y:15.92, Z:-0.00 [[ 9.35189387e-01 -3.54148008e-01 0.00000000e+00 1.66811407e+02] [ 3.54148008e-01 9.35189387e-01 0.00000000e+00 1.59187928e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39558701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.465336195 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:166.84, Y:15.93, Z:-0.00 [[ 9.34984913e-01 -3.54687484e-01 0.00000000e+00 1.66836989e+02] [ 3.54687484e-01 9.34984913e-01 0.00000000e+00 1.59306356e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13769114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.495336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:166.86, Y:15.95, Z:0.00 [[ 9.34554738e-01 -3.55819395e-01 0.00000000e+00 1.66861615e+02] [ 3.55819395e-01 9.34554738e-01 0.00000000e+00 1.59468123e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43873236e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.525336195 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:166.89, Y:15.96, Z:-0.00 [[ 9.34191899e-01 -3.56770930e-01 0.00000000e+00 1.66886891e+02] [ 3.56770930e-01 9.34191899e-01 0.00000000e+00 1.59587073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.88751852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.555336195 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:166.91, Y:15.97, Z:0.00 [[ 9.32850773e-01 -3.60263008e-01 0.00000000e+00 1.66912969e+02] [ 3.60263008e-01 9.32850773e-01 0.00000000e+00 1.59708735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17528938e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.585336195 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:166.94, Y:15.98, Z:0.00 [[ 9.32170318e-01 -3.62020024e-01 0.00000000e+00 1.66938520e+02] [ 3.62020024e-01 9.32170318e-01 0.00000000e+00 1.59824373e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.18938405e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.615336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:166.96, Y:15.99, Z:0.00 [[ 9.31048600e-01 -3.64895195e-01 0.00000000e+00 1.66964720e+02] [ 3.64895195e-01 9.31048600e-01 0.00000000e+00 1.59948483e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70890566e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.645336195 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:166.99, Y:16.00, Z:-0.00 [[ 9.30147021e-01 -3.67187307e-01 0.00000000e+00 1.66990470e+02] [ 3.67187307e-01 9.30147021e-01 0.00000000e+00 1.60043798e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45823954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.675336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:167.02, Y:16.01, Z:0.00 [[ 9.29482504e-01 -3.68866202e-01 0.00000000e+00 1.67018031e+02] [ 3.68866202e-01 9.29482504e-01 0.00000000e+00 1.60133491e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07209559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.705336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:167.04, Y:16.02, Z:0.00 [[ 9.29275755e-01 -3.69386750e-01 0.00000000e+00 1.67044077e+02] [ 3.69386750e-01 9.29275755e-01 0.00000000e+00 1.60244600e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09028888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.735336195 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.07, Y:16.04, Z:-0.00 [[ 9.29548499e-01 -3.68699862e-01 0.00000000e+00 1.67068598e+02] [ 3.68699862e-01 9.29548499e-01 0.00000000e+00 1.60371554e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.34937824e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.765336195 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:167.09, Y:16.05, Z:0.00 [[ 9.29901416e-01 -3.67808859e-01 0.00000000e+00 1.67094242e+02] [ 3.67808859e-01 9.29901416e-01 0.00000000e+00 1.60495409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66818084e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.795336195 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.12, Y:16.06, Z:0.00 [[ 9.31054254e-01 -3.64880771e-01 0.00000000e+00 1.67119722e+02] [ 3.64880771e-01 9.31054254e-01 0.00000000e+00 1.60616373e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.72654047e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.825336195 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.15, Y:16.07, Z:0.00 [[ 9.32299737e-01 -3.61686605e-01 0.00000000e+00 1.67146518e+02] [ 3.61686605e-01 9.32299737e-01 0.00000000e+00 1.60702922e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24612875e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.855336195 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:167.17, Y:16.08, Z:0.00 [[ 9.32861885e-01 -3.60234234e-01 0.00000000e+00 1.67173668e+02] [ 3.60234234e-01 9.32861885e-01 0.00000000e+00 1.60806955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25161141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.885336195 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:167.20, Y:16.09, Z:0.00 [[ 9.33912797e-01 -3.57500891e-01 0.00000000e+00 1.67199077e+02] [ 3.57500891e-01 9.33912797e-01 0.00000000e+00 1.60935017e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29455996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.915336195 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:167.22, Y:16.10, Z:0.00 [[ 9.34205417e-01 -3.56735531e-01 0.00000000e+00 1.67223283e+02] [ 3.56735531e-01 9.34205417e-01 0.00000000e+00 1.61047666e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46457500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.945336195 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:167.25, Y:16.12, Z:0.00 [[ 9.34596252e-01 -3.55710339e-01 0.00000000e+00 1.67248625e+02] [ 3.55710339e-01 9.34596252e-01 0.00000000e+00 1.61162247e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27316903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.975336195 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:167.27, Y:16.13, Z:0.00 [[ 9.34500384e-01 -3.55962122e-01 0.00000000e+00 1.67274513e+02] [ 3.55962122e-01 9.34500384e-01 0.00000000e+00 1.61287414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22720307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.005336195 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:167.30, Y:16.14, Z:0.00 [[ 9.34266810e-01 -3.56574716e-01 0.00000000e+00 1.67300118e+02] [ 3.56574716e-01 9.34266810e-01 0.00000000e+00 1.61396019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27568638e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.035336195 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:167.33, Y:16.15, Z:0.00 [[ 9.33723193e-01 -3.57995808e-01 0.00000000e+00 1.67326525e+02] [ 3.57995808e-01 9.33723193e-01 0.00000000e+00 1.61487958e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05767662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06533619500001 meters Centerline goodness : 0.998179 Centerline is valid? [True, True] Translation: X:167.35, Y:16.16, Z:0.01 [[ 9.33211148e-01 -3.59328476e-01 0.00000000e+00 1.67353094e+02] [ 3.59328476e-01 9.33211148e-01 0.00000000e+00 1.61597944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.08912579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09533619500002 meters Centerline goodness : 0.997507 Centerline is valid? [True, True] Translation: X:167.38, Y:16.17, Z:0.00 [[ 9.33018132e-01 -3.59829355e-01 0.00000000e+00 1.67376263e+02] [ 3.59829355e-01 9.33018132e-01 0.00000000e+00 1.61733594e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89640764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12533619500002 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:167.41, Y:16.19, Z:0.01 [[ 9.32944764e-01 -3.60019538e-01 0.00000000e+00 1.67405075e+02] [ 3.60019538e-01 9.32944764e-01 0.00000000e+00 1.61858851e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.15150267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15533619500002 meters Centerline goodness : 0.996568 Centerline is valid? [True, True] Translation: X:167.43, Y:16.20, Z:-0.00 [[ 9.32899895e-01 -3.60135788e-01 0.00000000e+00 1.67429149e+02] [ 3.60135788e-01 9.32899895e-01 0.00000000e+00 1.61968527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23445134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18533619500002 meters Centerline goodness : 0.995911 Centerline is valid? [True, True] Translation: X:167.46, Y:16.21, Z:-0.00 [[ 9.33090046e-01 -3.59642831e-01 0.00000000e+00 1.67458691e+02] [ 3.59642831e-01 9.33090046e-01 0.00000000e+00 1.62090486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88418180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.215336195 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:167.48, Y:16.22, Z:-0.00 [[ 9.33279566e-01 -3.59150737e-01 0.00000000e+00 1.67480510e+02] [ 3.59150737e-01 9.33279566e-01 0.00000000e+00 1.62238953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85377758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.245336195 meters Centerline goodness : 0.992725 Centerline is valid? [True, True] Translation: X:167.51, Y:16.24, Z:-0.00 [[ 9.33509042e-01 -3.58553857e-01 0.00000000e+00 1.67506920e+02] [ 3.58553857e-01 9.33509042e-01 0.00000000e+00 1.62376459e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46232061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.275336195 meters Centerline goodness : 0.992725 Centerline is valid? [True, True] Translation: X:167.53, Y:16.25, Z:-0.00 [[ 9.33430023e-01 -3.58759519e-01 0.00000000e+00 1.67533179e+02] [ 3.58759519e-01 9.33430023e-01 0.00000000e+00 1.62486982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46232061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.305336195 meters Centerline goodness : 0.993095 Centerline is valid? [True, True] Translation: X:167.56, Y:16.26, Z:-0.01 [[ 9.32816972e-01 -3.60350518e-01 0.00000000e+00 1.67556891e+02] [ 3.60350518e-01 9.32816972e-01 0.00000000e+00 1.62646109e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49267821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.335336195 meters Centerline goodness : 0.990991 Centerline is valid? [True, True] Translation: X:167.58, Y:16.28, Z:0.02 [[ 9.32514978e-01 -3.61131299e-01 0.00000000e+00 1.67579128e+02] [ 3.61131299e-01 9.32514978e-01 0.00000000e+00 1.62785544e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00747050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.365336195 meters Centerline goodness : 0.990472 Centerline is valid? [True, True] Translation: X:167.61, Y:16.29, Z:0.01 [[ 9.32500505e-01 -3.61168669e-01 0.00000000e+00 1.67606468e+02] [ 3.61168669e-01 9.32500505e-01 0.00000000e+00 1.62894858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15833974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.395336195 meters Centerline goodness : 0.986433 Centerline is valid? [True, True] Translation: X:167.64, Y:16.30, Z:0.00 [[ 9.31883869e-01 -3.62756743e-01 0.00000000e+00 1.67635444e+02] [ 3.62756743e-01 9.31883869e-01 0.00000000e+00 1.63034964e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65101045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.425336195 meters Centerline goodness : 0.985093 Centerline is valid? [True, True] Translation: X:167.66, Y:16.31, Z:0.00 [[ 9.30825842e-01 -3.65463066e-01 0.00000000e+00 1.67661130e+02] [ 3.65463066e-01 9.30825842e-01 0.00000000e+00 1.63120722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97449080e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.455336195 meters Centerline goodness : 0.100730 Centerline is valid? [True, False] Translation: X:167.58, Y:16.28, Z:-0.00 [[ 9.30680090e-01 -3.65832516e-01 1.06762387e-03 1.67583390e+02] [ 3.65829834e-01 9.30679391e-01 2.09856970e-03 1.62772151e+01] [-1.76134056e-03 -1.56252838e-03 9.99997228e-01 -1.31014770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.485336195 meters Centerline goodness : 0.980738 Centerline is valid? [False, True] Translation: X:167.59, Y:16.27, Z:-0.00 [[ 9.31753595e-01 -3.63091014e-01 -3.91862667e-04 1.67585404e+02] [ 3.63085361e-01 9.31731871e-01 6.68879860e-03 1.62710412e+01] [-2.06353173e-03 -6.37459174e-03 9.99977553e-01 -1.47762260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.515336195 meters Centerline goodness : 0.977591 Centerline is valid? [True, True] Translation: X:167.61, Y:16.29, Z:-0.00 [[ 9.30796973e-01 -3.65531214e-01 1.98169190e-03 1.67608696e+02] [ 3.65530360e-01 9.30799082e-01 7.90498611e-04 1.62852061e+01] [-2.13350892e-03 -1.14251604e-05 9.99997724e-01 -4.38174379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.545336195 meters Centerline goodness : 0.976390 Centerline is valid? [True, True] Translation: X:167.64, Y:16.30, Z:-0.00 [[ 9.30449075e-01 -3.66415885e-01 1.97930164e-03 1.67635292e+02] [ 3.66415019e-01 9.30451180e-01 7.96435282e-04 1.62957642e+01] [-2.13347009e-03 -1.57966230e-05 9.99997724e-01 -4.10193385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.575336195 meters Centerline goodness : 0.976632 Centerline is valid? [True, True] Translation: X:167.66, Y:16.30, Z:-0.01 [[ 9.30094987e-01 -3.67313760e-01 1.97935303e-03 1.67661576e+02] [ 3.67312897e-01 9.30097093e-01 7.96307661e-04 1.63016540e+01] [-2.13348526e-03 -1.35998661e-05 9.99997724e-01 -5.47473151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.605336195 meters Centerline goodness : 0.973514 Centerline is valid? [True, True] Translation: X:167.69, Y:16.31, Z:-0.00 [[ 9.29900601e-01 -3.67805596e-01 1.97876697e-03 1.67689369e+02] [ 3.67804731e-01 9.29902706e-01 7.97762096e-04 1.63085242e+01] [-2.13348213e-03 -1.40395973e-05 9.99997724e-01 -4.15529465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.635336195 meters Centerline goodness : 0.972210 Centerline is valid? [True, True] Translation: X:167.72, Y:16.32, Z:-0.00 [[ 9.29949157e-01 -3.67682811e-01 1.97869898e-03 1.67715983e+02] [ 3.67681945e-01 9.29951262e-01 7.97930757e-04 1.63175212e+01] [-2.13347903e-03 -1.45031473e-05 9.99997724e-01 -9.91569747e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.665336195 meters Centerline goodness : 0.146298 Centerline is valid? [True, False] Translation: X:167.68, Y:16.29, Z:-0.00 [[ 9.32033866e-01 -3.62365019e-01 -2.11325652e-03 1.67681772e+02] [ 3.62368698e-01 9.31990045e-01 9.13684441e-03 1.62923643e+01] [-1.34133876e-03 -9.28162643e-03 9.99956025e-01 -1.89151688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.695336195 meters Centerline goodness : 0.967231 Centerline is valid? [False, True] Translation: X:167.61, Y:16.26, Z:-0.00 [[ 9.32922612e-01 -3.60068401e-01 -2.47914916e-03 1.67605869e+02] [ 3.60067537e-01 9.32826404e-01 1.36480608e-02 1.62585749e+01] [-2.60161964e-03 -1.36252457e-02 9.99903787e-01 -3.91191846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.725336195 meters Centerline goodness : 0.964192 Centerline is valid? [True, True] Translation: X:167.63, Y:16.27, Z:-0.01 [[ 9.34486917e-01 -3.55988354e-01 2.54813010e-03 1.67629475e+02] [ 3.55986898e-01 9.34490390e-01 1.01930071e-03 1.62746175e+01] [-2.74406227e-03 -4.54222488e-05 9.99996234e-01 -6.71220629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.755336195 meters Centerline goodness : 0.962549 Centerline is valid? [True, True] Translation: X:167.66, Y:16.28, Z:-0.01 [[ 9.35345578e-01 -3.53726092e-01 2.54978680e-03 1.67656808e+02] [ 3.53724638e-01 9.35349052e-01 1.01513978e-03 1.62822068e+01] [-2.74402210e-03 -4.75840926e-05 9.99996234e-01 -1.14906884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.785336195 meters Centerline goodness : 0.131549 Centerline is valid? [True, False] Translation: X:167.62, Y:16.26, Z:-0.01 [[ 9.37415851e-01 -3.48207210e-01 -1.80588863e-03 1.67620941e+02] [ 3.48210506e-01 9.37384876e-01 7.68354676e-03 1.62585031e+01] [-9.82653689e-04 -7.83150792e-03 9.99968850e-01 -1.09037803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81533619500001 meters Centerline goodness : 0.956349 Centerline is valid? [False, True] Translation: X:167.53, Y:16.22, Z:-0.02 [[ 9.39343983e-01 -3.42972713e-01 1.61264685e-03 1.67532118e+02] [ 3.42930850e-01 9.39285279e-01 1.18994593e-02 1.62243363e+01] [-5.59592527e-03 -1.06246591e-02 9.99927899e-01 -1.54243440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84533619500002 meters Centerline goodness : 0.128667 Centerline is valid? [True, False] Translation: X:167.50, Y:16.20, Z:-0.02 [[ 9.41682409e-01 -3.36489790e-01 -2.97701665e-03 1.67498532e+02] [ 3.36477617e-01 9.41466068e-01 2.06023146e-02 1.61993762e+01] [-4.12970834e-03 -2.04025367e-02 9.99783318e-01 -1.53885580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87533619500002 meters Centerline goodness : 0.948592 Centerline is valid? [False, False] Translation: X:167.50, Y:16.19, Z:-0.02 [[ 9.43232194e-01 -3.32096902e-01 -4.96741034e-03 1.67501558e+02] [ 3.32110361e-01 9.42880801e-01 2.60480845e-02 1.61923329e+01] [-3.96681232e-03 -2.62191203e-02 9.99648349e-01 -1.53182989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90533619500002 meters Centerline goodness : 0.129834 Centerline is valid? [False, False] Translation: X:167.47, Y:16.17, Z:-0.01 [[ 9.44424950e-01 -3.28616058e-01 -8.54403615e-03 1.67468383e+02] [ 3.28715540e-01 9.43854581e-01 3.29336331e-02 1.61655848e+01] [-2.75819305e-03 -3.39119023e-02 9.99421020e-01 -1.47689822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93533619500002 meters Centerline goodness : 0.131256 Centerline is valid? [False, False] Translation: X:167.43, Y:16.14, Z:-0.01 [[ 9.45120760e-01 -3.26534080e-01 -1.10563708e-02 1.67430998e+02] [ 3.26716184e-01 9.44377239e-01 3.75255172e-02 1.61425660e+01] [-1.81197524e-03 -3.90784406e-02 9.99234503e-01 -1.39147105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.965336195 meters Centerline goodness : 0.133552 Centerline is valid? [False, False] Translation: X:167.39, Y:16.12, Z:-0.01 [[ 9.45658653e-01 -3.24943121e-01 -1.19029708e-02 1.67391578e+02] [ 3.25149214e-01 9.44677988e-01 4.31449721e-02 1.61197151e+01] [-2.77518739e-03 -4.46706578e-02 9.98997913e-01 -1.37709788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.995336195 meters Centerline goodness : 0.085910 Centerline is valid? [False, False] Translation: X:167.39, Y:16.12, Z:-0.01 [[ 9.45680918e-01 -3.24883224e-01 -1.17683028e-02 1.67391225e+02] [ 3.25082610e-01 9.44689156e-01 4.34015539e-02 1.61187901e+01] [-2.98304867e-03 -4.48696919e-02 9.98988394e-01 -1.37166270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.025336195 meters Centerline goodness : 0.084995 Centerline is valid? [False, False] Translation: X:167.39, Y:16.11, Z:-0.01 [[ 9.45847493e-01 -3.24378757e-01 -1.22858119e-02 1.67394619e+02] [ 3.24598280e-01 9.44792353e-01 4.47589745e-02 1.61121739e+01] [-2.91131941e-03 -4.63231172e-02 9.98922266e-01 -1.42728758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.055336195 meters Centerline goodness : 0.084500 Centerline is valid? [False, False] Translation: X:167.40, Y:16.10, Z:-0.02 [[ 9.46142877e-01 -3.23494978e-01 -1.28318434e-02 1.67398842e+02] [ 3.23736289e-01 9.45004878e-01 4.64822143e-02 1.61042382e+01] [-2.91060831e-03 -4.81329493e-02 9.98836697e-01 -1.58494280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.085336195 meters Centerline goodness : 0.084955 Centerline is valid? [False, False] Translation: X:167.36, Y:16.08, Z:-0.02 [[ 9.47278060e-01 -3.19987873e-01 -1.64935628e-02 1.67364617e+02] [ 3.20410866e-01 9.45844355e-01 5.21088529e-02 1.60814139e+01] [-1.07385775e-03 -5.46462899e-02 9.98505198e-01 -1.70728848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.115336195 meters Centerline goodness : 0.084897 Centerline is valid? [False, False] Translation: X:167.37, Y:16.07, Z:-0.02 [[ 9.48651719e-01 -3.15796972e-01 -1.82260323e-02 1.67367510e+02] [ 3.16321282e-01 9.46913037e-01 5.74155629e-02 1.60740873e+01] [-8.73193310e-04 -6.02326543e-02 9.98183983e-01 -1.73355615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.145336195 meters Centerline goodness : 0.084772 Centerline is valid? [False, False] Translation: X:167.37, Y:16.07, Z:-0.02 [[ 9.48672031e-01 -3.15753127e-01 -1.79259544e-02 1.67367410e+02] [ 3.16259316e-01 9.46926440e-01 5.75357524e-02 1.60742221e+01] [-1.19253361e-03 -6.02518092e-02 9.98182497e-01 -1.87929612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.175336195 meters Centerline goodness : 0.086847 Centerline is valid? [False, False] Translation: X:167.35, Y:16.07, Z:-0.02 [[ 9.49271121e-01 -3.14045393e-01 -1.61192335e-02 1.67348477e+02] [ 3.14458799e-01 9.48031213e-01 4.85023978e-02 1.60723142e+01] [ 4.95818947e-05 -5.11107603e-02 9.98692990e-01 -2.22341097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.205336195 meters Centerline goodness : 0.087162 Centerline is valid? [False, False] Translation: X:167.35, Y:16.06, Z:-0.02 [[ 9.50645748e-01 -3.09761889e-01 -1.78950994e-02 1.67351821e+02] [ 3.10278252e-01 9.49111743e-01 5.39843094e-02 1.60637081e+01] [ 2.62167378e-04 -5.68724143e-02 9.98381420e-01 -2.23544925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.235336195 meters Centerline goodness : 0.087326 Centerline is valid? [False, False] Translation: X:167.35, Y:16.06, Z:-0.02 [[ 9.50858240e-01 -3.09104185e-01 -1.79780747e-02 1.67353632e+02] [ 3.09626562e-01 9.49256882e-01 5.51612563e-02 1.60577919e+01] [ 1.52359783e-05 -5.80170246e-02 9.98315594e-01 -2.28778969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.265336195 meters Centerline goodness : 0.086682 Centerline is valid? [False, False] Translation: X:167.36, Y:16.05, Z:-0.02 [[ 9.52219362e-01 -3.04790640e-01 -1.95180165e-02 1.67355500e+02] [ 3.05414913e-01 9.50300934e-01 6.04141161e-02 1.60512369e+01] [ 1.34332259e-04 -6.34885844e-02 9.97982556e-01 -2.27440145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.295336195 meters Centerline goodness : 0.087679 Centerline is valid? [False, False] Translation: X:167.36, Y:16.05, Z:-0.02 [[ 9.53539855e-01 -3.00536626e-01 -2.09637827e-02 1.67357153e+02] [ 3.01266734e-01 9.51300584e-01 6.53112029e-02 1.60469559e+01] [ 3.14450127e-04 -6.85925253e-02 9.97644710e-01 -2.32329136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.325336195 meters Centerline goodness : 0.088442 Centerline is valid? [False, False] Translation: X:167.36, Y:16.04, Z:-0.02 [[ 9.54821219e-01 -2.96326293e-01 -2.25203704e-02 1.67360173e+02] [ 2.97180380e-01 9.52204400e-01 7.06441912e-02 1.60391822e+01] [ 5.10264494e-04 -7.41451851e-02 9.97247327e-01 -2.33668863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.355336195 meters Centerline goodness : 0.089274 Centerline is valid? [False, False] Translation: X:167.36, Y:16.04, Z:-0.02 [[ 9.54890397e-01 -2.96109645e-01 -2.24367284e-02 1.67360388e+02] [ 2.96958291e-01 9.52241734e-01 7.10735830e-02 1.60372873e+01] [ 3.19615716e-04 -7.45302545e-02 9.97218702e-01 -2.37375641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.385336195 meters Centerline goodness : 0.071664 Centerline is valid? [False, False] Translation: X:167.36, Y:16.03, Z:-0.02 [[ 9.55058841e-01 -2.95574298e-01 -2.23258884e-02 1.67361578e+02] [ 2.96416279e-01 9.52339900e-01 7.20146083e-02 1.60328706e+01] [-2.38329739e-05 -7.53959450e-02 9.97153675e-01 -2.41888266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.415336195 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 175.445336195 meters Centerline goodness : 0.073537 Centerline is valid? [False, False] Translation: X:167.36, Y:16.03, Z:-0.02 [[ 9.56313051e-01 -2.91404843e-01 -2.34214806e-02 1.67363085e+02] [ 2.92344517e-01 9.53190161e-01 7.72217654e-02 1.60264168e+01] [-1.77671536e-04 -8.06953236e-02 9.96738799e-01 -2.45178443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.475336195 meters Centerline goodness : 0.073435 Centerline is valid? [False, False] Translation: X:167.36, Y:16.02, Z:-0.03 [[ 9.56386577e-01 -2.91163603e-01 -2.34194666e-02 1.67364471e+02] [ 2.92103833e-01 9.53236985e-01 7.75538540e-02 1.60249281e+01] [-2.56557857e-04 -8.10123809e-02 9.96713062e-01 -2.58142876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.505336195 meters Centerline goodness : 0.074295 Centerline is valid? [False, False] Translation: X:167.37, Y:16.02, Z:-0.03 [[ 9.56472180e-01 -2.90878753e-01 -2.34631697e-02 1.67365723e+02] [ 2.91823336e-01 9.53283744e-01 7.80336042e-02 1.60223634e+01] [-3.31259219e-04 -8.14840720e-02 9.96674589e-01 -2.67804577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.535336195 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 175.56533619500001 meters Centerline goodness : 0.256841 Centerline is valid? [False, False] Translation: X:167.37, Y:16.02, Z:-0.03 [[ 9.56685334e-01 -2.90222417e-01 -2.28936957e-02 1.67368652e+02] [ 2.91121732e-01 9.53406102e-01 7.91513898e-02 1.60195488e+01] [-1.14451853e-03 -8.23878261e-02 9.96599687e-01 -3.10354157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59533619500002 meters Centerline goodness : 0.251657 Centerline is valid? [False, False] Translation: X:167.37, Y:16.02, Z:-0.03 [[ 9.56706888e-01 -2.90158089e-01 -2.28081970e-02 1.67368880e+02] [ 2.91050386e-01 9.53414861e-01 7.93080985e-02 1.60189983e+01] [-1.26621233e-03 -8.25129387e-02 9.96589189e-01 -3.17862723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62533619500002 meters Centerline goodness : 0.067547 Centerline is valid? [False, False] Translation: X:167.37, Y:16.01, Z:-0.03 [[ 9.57870322e-01 -2.86162106e-01 -2.44068734e-02 1.67372699e+02] [ 2.87200059e-01 9.54178009e-01 8.40265015e-02 1.60144525e+01] [-7.56698777e-04 -8.74961475e-02 9.96164571e-01 -3.29028483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65533619500002 meters Centerline goodness : 0.833764 Centerline is valid? [False, False] Translation: X:167.37, Y:16.01, Z:-0.03 [[ 9.57983396e-01 -2.85782788e-01 -2.44133542e-02 1.67374435e+02] [ 2.86822396e-01 9.54249649e-01 8.45015971e-02 1.60115003e+01] [-8.52667306e-04 -8.79534236e-02 9.96124223e-01 -3.37188731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68533619500002 meters Centerline goodness : 0.832979 Centerline is valid? [False, False] Translation: X:167.37, Y:16.01, Z:-0.03 [[ 9.58032624e-01 -2.85625183e-01 -2.43258348e-02 1.67374721e+02] [ 2.86657451e-01 9.54275417e-01 8.47698962e-02 1.60100931e+01] [-9.98870974e-04 -8.81855079e-02 9.96103568e-01 -3.43236820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.715336195 meters Centerline goodness : 0.824170 Centerline is valid? [False, False] Translation: X:167.38, Y:16.01, Z:-0.04 [[ 9.59212840e-01 -2.81516386e-01 -2.56759146e-02 1.67376795e+02] [ 2.82684157e-01 9.55043443e-01 8.93402980e-02 1.60075936e+01] [-6.29143939e-04 -9.29545352e-02 9.95670156e-01 -3.51020707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.745336195 meters Centerline goodness : 0.823008 Centerline is valid? [False, False] Translation: X:167.38, Y:16.01, Z:-0.04 [[ 9.59179264e-01 -2.81641371e-01 -2.55592756e-02 1.67376748e+02] [ 2.82797910e-01 9.55029191e-01 8.91324058e-02 1.60091908e+01] [-6.93518694e-04 -9.27220652e-02 9.95691788e-01 -3.60833912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.775336195 meters Centerline goodness : 0.813781 Centerline is valid? [False, False] Translation: X:167.38, Y:16.01, Z:-0.04 [[ 9.59304635e-01 -2.81237736e-01 -2.52972975e-02 1.67376985e+02] [ 2.82371139e-01 9.55098942e-01 8.97360055e-02 1.60056177e+01] [-1.07572895e-03 -9.32273927e-02 9.95644262e-01 -3.56679402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.805336195 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 175.835336195 meters Centerline goodness : 0.802150 Centerline is valid? [False, False] Translation: X:167.38, Y:16.00, Z:-0.04 [[ 9.59371376e-01 -2.81041654e-01 -2.49429606e-02 1.67377353e+02] [ 2.82141851e-01 9.55100709e-01 9.04356783e-02 1.60026764e+01] [-1.59315320e-03 -9.37988542e-02 9.95589894e-01 -3.64022584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.865336195 meters Centerline goodness : 0.796636 Centerline is valid? [False, False] Translation: X:167.38, Y:16.00, Z:-0.04 [[ 9.59369913e-01 -2.81053024e-01 -2.48710343e-02 1.67377948e+02] [ 2.82145780e-01 9.55063995e-01 9.08103805e-02 1.60016673e+01] [-1.76910269e-03 -9.41380041e-02 9.95557586e-01 -3.66999232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.895336195 meters Centerline goodness : 0.343256 Centerline is valid? [False, False] Translation: X:167.38, Y:16.00, Z:-0.04 [[ 9.59441973e-01 -2.80771211e-01 -2.52710815e-02 1.67381433e+02] [ 2.81901454e-01 9.55043458e-01 9.17799700e-02 1.59952668e+01] [-1.63419227e-03 -9.51815101e-02 9.95458593e-01 -3.66805443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.925336195 meters Centerline goodness : 0.579087 Centerline is valid? [False, False] Translation: X:167.38, Y:15.99, Z:-0.04 [[ 9.59516884e-01 -2.80499805e-01 -2.54402953e-02 1.67383029e+02] [ 2.81646440e-01 9.55058507e-01 9.24041679e-02 1.59917585e+01] [-1.62238063e-03 -9.58285279e-02 9.95396535e-01 -3.71044287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.955336195 meters Centerline goodness : 0.554998 Centerline is valid? [False, False] Translation: X:167.39, Y:15.99, Z:-0.04 [[ 9.59644887e-01 -2.80032926e-01 -2.57536565e-02 1.67386332e+02] [ 2.81210495e-01 9.55098977e-01 9.33091755e-02 1.59866515e+01] [-1.53235045e-03 -9.67858716e-02 9.95304047e-01 -3.77548940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.985336195 meters Centerline goodness : 0.390232 Centerline is valid? [False, False] Translation: X:167.39, Y:15.98, Z:-0.04 [[ 9.60759781e-01 -2.76024565e-01 -2.74058892e-02 1.67390892e+02] [ 2.77380316e-01 9.55734708e-01 9.81393284e-02 1.59809302e+01] [-8.96105835e-04 -1.01890174e-01 9.94795250e-01 -3.87712945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.015336195 meters Centerline goodness : 0.620042 Centerline is valid? [False, False] Translation: X:167.39, Y:15.98, Z:-0.04 [[ 9.61932772e-01 -2.71756574e-01 -2.88739792e-02 1.67393168e+02] [ 2.73285953e-01 9.56408277e-01 1.02946565e-01 1.59767254e+01] [-3.61093116e-04 -1.06918527e-01 9.94267720e-01 -3.90009858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.045336195 meters Centerline goodness : 0.606784 Centerline is valid? [False, False] Translation: X:167.39, Y:15.98, Z:-0.04 [[ 9.62024437e-01 -2.71429251e-01 -2.88988746e-02 1.67394754e+02] [ 2.72963095e-01 9.56475806e-01 1.03175492e-01 1.59758109e+01] [-3.63772368e-04 -1.07145671e-01 9.94243266e-01 -3.94790274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.075336195 meters Centerline goodness : 0.502642 Centerline is valid? [False, False] Translation: X:167.40, Y:15.97, Z:-0.04 [[ 9.62125352e-01 -2.71072239e-01 -2.88902794e-02 1.67395761e+02] [ 2.72607052e-01 9.56531087e-01 1.03603450e-01 1.59729533e+01] [-4.49568716e-04 -1.07555199e-01 9.94199013e-01 -3.99511482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.105336195 meters Centerline goodness : 0.762653 Centerline is valid? [False, False] Translation: X:167.40, Y:15.97, Z:-0.04 [[ 9.63122727e-01 -2.67364622e-01 -3.01789844e-02 1.67401818e+02] [ 2.69062413e-01 9.57117828e-01 1.07381944e-01 1.59693877e+01] [ 1.74710998e-04 -1.11542022e-01 9.93759703e-01 -4.30814212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.135336195 meters Centerline goodness : 0.721876 Centerline is valid? [False, False] Translation: X:167.40, Y:15.96, Z:-0.04 [[ 9.64382611e-01 -2.62649195e-01 -3.13301641e-02 1.67404151e+02] [ 2.64510577e-01 9.57850270e-01 1.12058087e-01 1.59648879e+01] [ 5.77639773e-04 -1.16354031e-01 9.93207635e-01 -4.31640638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.165336195 meters Centerline goodness : 0.730441 Centerline is valid? [False, False] Translation: X:167.40, Y:15.97, Z:-0.04 [[ 9.64423409e-01 -2.62518549e-01 -3.11688948e-02 1.67404220e+02] [ 2.64362023e-01 9.57899421e-01 1.11988484e-01 1.59652394e+01] [ 4.57611933e-04 -1.16244188e-01 9.93220559e-01 -4.41018828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.195336195 meters Centerline goodness : 0.746436 Centerline is valid? [False, False] Translation: X:167.41, Y:15.96, Z:-0.05 [[ 9.65571731e-01 -2.58114176e-01 -3.23775255e-02 1.67406732e+02] [ 2.60134947e-01 9.58544509e-01 1.16285139e-01 1.59641560e+01] [ 1.02045641e-03 -1.20704169e-01 9.92687998e-01 -4.51610051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.225336195 meters Centerline goodness : 0.746436 Centerline is valid? [False, False] Translation: X:167.41, Y:15.96, Z:-0.05 [[ 9.65571731e-01 -2.58114176e-01 -3.23775255e-02 1.67406732e+02] [ 2.60134947e-01 9.58544509e-01 1.16285139e-01 1.59641560e+01] [ 1.02045641e-03 -1.20704169e-01 9.92687998e-01 -4.51610051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.255336195 meters Centerline goodness : 0.738797 Centerline is valid? [False, False] Translation: X:167.41, Y:15.97, Z:-0.05 [[ 9.65580922e-01 -2.58085446e-01 -3.23324208e-02 1.67408627e+02] [ 2.60100655e-01 9.58592265e-01 1.15967752e-01 1.59658440e+01] [ 1.06401948e-03 -1.20385932e-01 9.92726596e-01 -4.66023529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.285336195 meters Centerline goodness : 0.732448 Centerline is valid? [False, False] Translation: X:167.41, Y:15.96, Z:-0.05 [[ 9.65649589e-01 -2.57833947e-01 -3.22881849e-02 1.67409636e+02] [ 2.59845972e-01 9.58623234e-01 1.16282268e-01 1.59635118e+01] [ 9.70688124e-04 -1.20677879e-01 9.92691245e-01 -4.73547424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31533619500001 meters Centerline goodness : 0.483870 Centerline is valid? [False, False] Translation: X:167.41, Y:15.96, Z:-0.05 [[ 9.65693138e-01 -2.57694336e-01 -3.20997423e-02 1.67410284e+02] [ 2.59684836e-01 9.58636213e-01 1.16534961e-01 1.59618493e+01] [ 7.41575930e-04 -1.20872829e-01 9.92667724e-01 -4.68828262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34533619500002 meters Centerline goodness : 0.524265 Centerline is valid? [False, False] Translation: X:167.41, Y:15.96, Z:-0.05 [[ 9.65658593e-01 -2.57842126e-01 -3.19518434e-02 1.67411150e+02] [ 2.59813711e-01 9.58593119e-01 1.16602179e-01 1.59621236e+01] [ 5.63863420e-04 -1.20899423e-01 9.92664602e-01 -4.71058683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37533619500002 meters Centerline goodness : 0.513549 Centerline is valid? [False, False] Translation: X:167.41, Y:15.96, Z:-0.05 [[ 9.65649140e-01 -2.57878720e-01 -3.19421882e-02 1.67411573e+02] [ 2.59848965e-01 9.58561703e-01 1.16781746e-01 1.59616143e+01] [ 5.03031173e-04 -1.21070337e-01 9.92643803e-01 -4.75490137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40533619500002 meters Centerline goodness : 0.715068 Centerline is valid? [False, False] Translation: X:167.41, Y:15.96, Z:-0.05 [[ 9.65546760e-01 -2.58283243e-01 -3.17682314e-02 1.67412982e+02] [ 2.60229518e-01 9.58431449e-01 1.17003226e-01 1.59623263e+01] [ 2.27699494e-04 -1.21239117e-01 9.92623304e-01 -4.82019246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43533619500002 meters Centerline goodness : 0.707141 Centerline is valid? [False, False] Translation: X:167.41, Y:15.96, Z:-0.05 [[ 9.65583024e-01 -2.58138947e-01 -3.18387890e-02 1.67414101e+02] [ 2.60094936e-01 9.58424481e-01 1.17359018e-01 1.59603265e+01] [ 2.20141592e-04 -1.21600983e-01 9.92579041e-01 -4.85641329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.465336195 meters Centerline goodness : 0.562332 Centerline is valid? [False, False] Translation: X:167.41, Y:15.96, Z:-0.05 [[ 9.64497493e-01 -2.62316005e-01 -3.05761405e-02 1.67414933e+02] [ 2.64091723e-01 9.57841287e-01 1.13117774e-01 1.59615639e+01] [-3.85512785e-04 -1.17176715e-01 9.93111005e-01 -4.90625632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.495336195 meters Centerline goodness : 0.700930 Centerline is valid? [False, False] Translation: X:167.42, Y:15.96, Z:-0.05 [[ 9.64519281e-01 -2.62231874e-01 -3.06104575e-02 1.67417666e+02] [ 2.64012066e-01 9.57824363e-01 1.13446540e-01 1.59603479e+01] [-4.29856948e-04 -1.17502906e-01 9.93072446e-01 -5.01138188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.525336195 meters Centerline goodness : 0.487411 Centerline is valid? [False, False] Translation: X:167.42, Y:15.96, Z:-0.05 [[ 9.64525192e-01 -2.62197596e-01 -3.07176612e-02 1.67419082e+02] [ 2.63990582e-01 9.57815615e-01 1.13570334e-01 1.59598810e+01] [-3.56013116e-04 -1.17650622e-01 9.93054986e-01 -5.13855921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.555336195 meters Centerline goodness : 0.692828 Centerline is valid? [False, False] Translation: X:167.42, Y:15.96, Z:-0.05 [[ 9.64542022e-01 -2.62114919e-01 -3.08942831e-02 1.67421829e+02] [ 2.63929133e-01 9.57770207e-01 1.14094887e-01 1.59571228e+01] [-3.16348006e-04 -1.18203214e-01 9.92989376e-01 -5.13227961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.585336195 meters Centerline goodness : 0.694333 Centerline is valid? [False, False] Translation: X:167.43, Y:15.95, Z:-0.05 [[ 9.64611448e-01 -2.61817560e-01 -3.12461296e-02 1.67425759e+02] [ 2.63675458e-01 9.57773904e-01 1.14649035e-01 1.59539333e+01] [-9.04031066e-05 -1.18830609e-01 9.92914537e-01 -5.18081973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.615336195 meters Centerline goodness : 0.149825 Centerline is valid? [False, False] Translation: X:167.43, Y:15.95, Z:-0.05 [[ 9.64661600e-01 -2.61600543e-01 -3.15143344e-02 1.67428192e+02] [ 2.63491904e-01 9.57790289e-01 1.14933798e-01 1.59521323e+01] [ 1.17379531e-04 -1.19175993e-01 9.92873138e-01 -5.31428788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.645336195 meters Centerline goodness : 0.138929 Centerline is valid? [False, False] Translation: X:167.43, Y:15.95, Z:-0.05 [[ 9.64684511e-01 -2.61487675e-01 -3.17488522e-02 1.67431719e+02] [ 2.63407819e-01 9.57805690e-01 1.14998179e-01 1.59523932e+01] [ 3.38624971e-04 -1.19299858e-01 9.92858212e-01 -5.49207131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.675336195 meters Centerline goodness : 0.153249 Centerline is valid? [False, False] Translation: X:167.43, Y:15.95, Z:-0.06 [[ 9.64672544e-01 -2.61524874e-01 -3.18060326e-02 1.67432911e+02] [ 2.63451493e-01 9.57817397e-01 1.14800455e-01 1.59539953e+01] [ 4.41196850e-04 -1.19124194e-01 9.92879263e-01 -5.66404879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.705336195 meters Centerline goodness : 0.158340 Centerline is valid? [False, False] Translation: X:167.44, Y:15.96, Z:-0.06 [[ 9.65140111e-01 -2.59681237e-01 -3.27142300e-02 1.67440374e+02] [ 2.61730132e-01 9.58216969e-01 1.15401811e-01 1.59556733e+01] [ 1.37964527e-03 -1.19941217e-01 9.92780037e-01 -6.02064741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.735336195 meters Centerline goodness : 0.681570 Centerline is valid? [False, False] Translation: X:167.44, Y:15.96, Z:-0.06 [[ 9.65154385e-01 -2.59636833e-01 -3.26454815e-02 1.67440818e+02] [ 2.61677538e-01 9.58254768e-01 1.15207060e-01 1.59569794e+01] [ 1.37069200e-03 -1.19735189e-01 9.92804918e-01 -6.11995098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.765336195 meters Centerline goodness : 0.166035 Centerline is valid? [False, False] Translation: X:167.44, Y:15.96, Z:-0.06 [[ 9.65279426e-01 -2.59171196e-01 -3.26484390e-02 1.67442913e+02] [ 2.61215483e-01 9.58389070e-01 1.15138450e-01 1.59579345e+01] [ 1.44933742e-03 -1.19669054e-01 9.92812780e-01 -6.14611329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.795336195 meters Centerline goodness : 0.155753 Centerline is valid? [False, False] Translation: X:167.44, Y:15.96, Z:-0.06 [[ 9.65257921e-01 -2.59263124e-01 -3.25542269e-02 1.67444799e+02] [ 2.61294882e-01 9.58418274e-01 1.14714412e-01 1.59615135e+01] [ 1.45934900e-03 -1.19235248e-01 9.92864959e-01 -6.31528823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.825336195 meters Centerline goodness : 0.140731 Centerline is valid? [False, False] Translation: X:167.45, Y:15.96, Z:-0.07 [[ 9.65894356e-01 -2.56762831e-01 -3.34804612e-02 1.67451874e+02] [ 2.58930200e-01 9.58662435e-01 1.17989350e-01 1.59617762e+01] [ 1.80118095e-03 -1.22634349e-01 9.92450287e-01 -6.73684606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.855336195 meters Centerline goodness : 0.137414 Centerline is valid? [False, False] Translation: X:167.45, Y:15.96, Z:-0.07 [[ 9.65934262e-01 -2.56623199e-01 -3.33996371e-02 1.67451985e+02] [ 2.58782106e-01 9.58673534e-01 1.18223838e-01 1.59607048e+01] [ 1.68036860e-03 -1.22839684e-01 9.92425105e-01 -6.69941736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.885336195 meters Centerline goodness : 0.155036 Centerline is valid? [False, False] Translation: X:167.45, Y:15.96, Z:-0.07 [[ 9.66001313e-01 -2.56385133e-01 -3.32885411e-02 1.67453025e+02] [ 2.58532784e-01 9.58693419e-01 1.18607455e-01 1.59583388e+01] [ 1.50431726e-03 -1.23181136e-01 9.92383064e-01 -6.72510460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.915336195 meters Centerline goodness : 0.504050 Centerline is valid? [False, False] Translation: X:167.46, Y:15.96, Z:-0.07 [[ 9.66061949e-01 -2.56151335e-01 -3.33287412e-02 1.67455548e+02] [ 2.58306326e-01 9.58704427e-01 1.19011192e-01 1.59558803e+01] [ 1.46753585e-03 -1.23581209e-01 9.92333377e-01 -6.71238507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.945336195 meters Centerline goodness : 0.498692 Centerline is valid? [False, False] Translation: X:167.46, Y:15.96, Z:-0.07 [[ 9.66027462e-01 -2.56301950e-01 -3.31700528e-02 1.67456401e+02] [ 2.58435938e-01 9.58692558e-01 1.18825272e-01 1.59583501e+01] [ 1.34473382e-03 -1.23360810e-01 9.92360974e-01 -6.73962311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.975336195 meters Centerline goodness : 0.496271 Centerline is valid? [False, False] Translation: X:167.46, Y:15.96, Z:-0.07 [[ 9.66045721e-01 -2.56219242e-01 -3.32770765e-02 1.67457608e+02] [ 2.58367191e-01 9.58700163e-01 1.18913377e-01 1.59577827e+01] [ 1.43484318e-03 -1.23473464e-01 9.92346837e-01 -6.82609463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.005336195 meters Centerline goodness : 0.223222 Centerline is valid? [False, False] Translation: X:167.46, Y:15.96, Z:-0.07 [[ 9.66094212e-01 -2.55993956e-01 -3.36016185e-02 1.67461584e+02] [ 2.58184383e-01 9.58700949e-01 1.19303459e-01 1.59553126e+01] [ 1.67293919e-03 -1.23933794e-01 9.92289079e-01 -6.96115258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.035336195 meters Centerline goodness : 0.204429 Centerline is valid? [False, False] Translation: X:167.47, Y:15.96, Z:-0.07 [[ 9.66272013e-01 -2.55246960e-01 -3.41670380e-02 1.67468263e+02] [ 2.57514704e-01 9.58798567e-01 1.19964518e-01 1.59561555e+01] [ 2.13872849e-03 -1.24716871e-01 9.92190066e-01 -7.48014667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06533619500001 meters Centerline goodness : 0.439813 Centerline is valid? [False, False] Translation: X:167.47, Y:15.96, Z:-0.08 [[ 9.66287074e-01 -2.55167841e-01 -3.43316712e-02 1.67469809e+02] [ 2.57456910e-01 9.58804632e-01 1.20040068e-01 1.59556680e+01] [ 2.28700047e-03 -1.24832092e-01 9.92175246e-01 -7.56966925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09533619500002 meters Centerline goodness : 0.081062 Centerline is valid? [False, False] Translation: X:167.47, Y:15.95, Z:-0.08 [[ 9.66341235e-01 -2.54989337e-01 -3.41329106e-02 1.67470950e+02] [ 2.57255624e-01 9.58820107e-01 1.20347605e-01 1.59540351e+01] [ 2.03996511e-03 -1.25077736e-01 9.92144848e-01 -7.50118480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12533619500002 meters Centerline goodness : 0.071466 Centerline is valid? [False, False] Translation: X:167.47, Y:15.95, Z:-0.08 [[ 9.66361151e-01 -2.54905918e-01 -3.41920790e-02 1.67472185e+02] [ 2.57180408e-01 9.58831245e-01 1.20419605e-01 1.59538723e+01] [ 2.08876360e-03 -1.25162361e-01 9.92134074e-01 -7.60130687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15533619500002 meters Centerline goodness : 0.087944 Centerline is valid? [False, False] Translation: X:167.48, Y:15.96, Z:-0.08 [[ 9.66372406e-01 -2.54757221e-01 -3.49733033e-02 1.67481579e+02] [ 2.57130896e-01 9.58837555e-01 1.20475083e-01 1.59553247e+01] [ 2.84181937e-03 -1.25416512e-01 9.92100107e-01 -8.35833031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18533619500002 meters Centerline goodness : 0.072524 Centerline is valid? [False, False] Translation: X:167.48, Y:15.96, Z:-0.09 [[ 9.66320825e-01 -2.54970383e-01 -3.48448992e-02 1.67483182e+02] [ 2.57325512e-01 9.58820984e-01 1.20191103e-01 1.59590439e+01] [ 2.76484889e-03 -1.25109648e-01 9.92139069e-01 -8.52698095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.215336195 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 177.245336195 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 177.275336195 meters Centerline goodness : 0.506325 Centerline is valid? [False, False] Translation: X:167.54, Y:15.98, Z:-0.10 [[ 9.66208456e-01 -2.56082756e-01 -2.93741576e-02 1.67535923e+02] [ 2.57754649e-01 9.59029618e-01 1.17578623e-01 1.59784064e+01] [-1.93917072e-03 -1.21176785e-01 9.92629048e-01 -1.00601890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.305336195 meters Centerline goodness : 0.511223 Centerline is valid? [False, False] Translation: X:167.54, Y:15.98, Z:-0.10 [[ 9.66200985e-01 -2.56101874e-01 -2.94531243e-02 1.67536870e+02] [ 2.57783406e-01 9.59035835e-01 1.17464816e-01 1.59794416e+01] [-1.83635797e-03 -1.21087148e-01 9.92640182e-01 -1.01652682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 4447.31 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... 0%| | 0/5906 [00:00